| 1 |
- {"ast":null,"code":"import { Quaternion, Vector3, Matrix } from \"../../../Maths/math.vector.js\";\nimport { Logger } from \"../../../Misc/logger.js\";\nimport { PhysicsImpostor } from \"../physicsImpostor.js\";\nimport { PhysicsJoint } from \"../physicsJoint.js\";\nimport { VertexBuffer } from \"../../../Buffers/buffer.js\";\nimport { VertexData } from \"../../../Meshes/mesh.vertexData.js\";\nimport { ExtrudeShape } from \"../../../Meshes/Builders/shapeBuilder.js\";\nimport { CreateLines } from \"../../../Meshes/Builders/linesBuilder.js\";\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult.js\";\nimport { WithinEpsilon } from \"../../../Maths/math.scalar.functions.js\";\nimport { Epsilon } from \"../../../Maths/math.constants.js\";\n/**\n * AmmoJS Physics plugin\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\n * @see https://github.com/kripken/ammo.js/\n */\nexport class AmmoJSPlugin {\n /**\n * Initializes the ammoJS plugin\n * @param _useDeltaForWorldStep if the time between frames should be used when calculating physics steps (Default: true)\n * @param ammoInjection can be used to inject your own ammo reference\n * @param overlappingPairCache can be used to specify your own overlapping pair cache\n */\n constructor(_useDeltaForWorldStep = true, ammoInjection = Ammo, overlappingPairCache = null) {\n this._useDeltaForWorldStep = _useDeltaForWorldStep;\n /**\n * Reference to the Ammo library\n */\n this.bjsAMMO = {};\n /**\n * Name of the plugin\n */\n this.name = \"AmmoJSPlugin\";\n this._timeStep = 1 / 60;\n this._fixedTimeStep = 1 / 60;\n this._maxSteps = 5;\n this._tmpQuaternion = new Quaternion();\n this._tmpContactCallbackResult = false;\n this._tmpContactPoint = new Vector3();\n this._tmpContactNormal = new Vector3();\n this._tmpVec3 = new Vector3();\n this._tmpMatrix = new Matrix();\n if (typeof ammoInjection === \"function\") {\n Logger.Error(\"AmmoJS is not ready. Please make sure you await Ammo() before using the plugin.\");\n return;\n } else {\n this.bjsAMMO = ammoInjection;\n }\n if (!this.isSupported()) {\n Logger.Error(\"AmmoJS is not available. Please make sure you included the js file.\");\n return;\n }\n // Initialize the physics world\n this._collisionConfiguration = new this.bjsAMMO.btSoftBodyRigidBodyCollisionConfiguration();\n this._dispatcher = new this.bjsAMMO.btCollisionDispatcher(this._collisionConfiguration);\n this._overlappingPairCache = overlappingPairCache || new this.bjsAMMO.btDbvtBroadphase();\n this._solver = new this.bjsAMMO.btSequentialImpulseConstraintSolver();\n this._softBodySolver = new this.bjsAMMO.btDefaultSoftBodySolver();\n this.world = new this.bjsAMMO.btSoftRigidDynamicsWorld(this._dispatcher, this._overlappingPairCache, this._solver, this._collisionConfiguration, this._softBodySolver);\n this._tmpAmmoConcreteContactResultCallback = new this.bjsAMMO.ConcreteContactResultCallback();\n this._tmpAmmoConcreteContactResultCallback.addSingleResult = contactPoint => {\n contactPoint = this.bjsAMMO.wrapPointer(contactPoint, this.bjsAMMO.btManifoldPoint);\n const worldPoint = contactPoint.getPositionWorldOnA();\n const worldNormal = contactPoint.m_normalWorldOnB;\n this._tmpContactPoint.x = worldPoint.x();\n this._tmpContactPoint.y = worldPoint.y();\n this._tmpContactPoint.z = worldPoint.z();\n this._tmpContactNormal.x = worldNormal.x();\n this._tmpContactNormal.y = worldNormal.y();\n this._tmpContactNormal.z = worldNormal.z();\n this._tmpContactImpulse = contactPoint.getAppliedImpulse();\n this._tmpContactDistance = contactPoint.getDistance();\n this._tmpContactCallbackResult = true;\n };\n this._raycastResult = new PhysicsRaycastResult();\n // Create temp ammo variables\n this._tmpAmmoTransform = new this.bjsAMMO.btTransform();\n this._tmpAmmoTransform.setIdentity();\n this._tmpAmmoQuaternion = new this.bjsAMMO.btQuaternion(0, 0, 0, 1);\n this._tmpAmmoVectorA = new this.bjsAMMO.btVector3(0, 0, 0);\n this._tmpAmmoVectorB = new this.bjsAMMO.btVector3(0, 0, 0);\n this._tmpAmmoVectorC = new this.bjsAMMO.btVector3(0, 0, 0);\n this._tmpAmmoVectorD = new this.bjsAMMO.btVector3(0, 0, 0);\n }\n /**\n *\n * @returns plugin version\n */\n getPluginVersion() {\n return 1;\n }\n /**\n * Sets the gravity of the physics world (m/(s^2))\n * @param gravity Gravity to set\n */\n setGravity(gravity) {\n this._tmpAmmoVectorA.setValue(gravity.x, gravity.y, gravity.z);\n this.world.setGravity(this._tmpAmmoVectorA);\n this.world.getWorldInfo().set_m_gravity(this._tmpAmmoVectorA);\n }\n /**\n * Amount of time to step forward on each frame (only used if useDeltaForWorldStep is false in the constructor)\n * @param timeStep timestep to use in seconds\n */\n setTimeStep(timeStep) {\n this._timeStep = timeStep;\n }\n /**\n * Increment to step forward in the physics engine (If timeStep is set to 1/60 and fixedTimeStep is set to 1/120 the physics engine should run 2 steps per frame) (Default: 1/60)\n * @param fixedTimeStep fixedTimeStep to use in seconds\n */\n setFixedTimeStep(fixedTimeStep) {\n this._fixedTimeStep = fixedTimeStep;\n }\n /**\n * Sets the maximum number of steps by the physics engine per frame (Default: 5)\n * @param maxSteps the maximum number of steps by the physics engine per frame\n */\n setMaxSteps(maxSteps) {\n this._maxSteps = maxSteps;\n }\n /**\n * Gets the current timestep (only used if useDeltaForWorldStep is false in the constructor)\n * @returns the current timestep in seconds\n */\n getTimeStep() {\n return this._timeStep;\n }\n // Ammo's contactTest and contactPairTest take a callback that runs synchronously, wrap them so that they are easier to consume\n _isImpostorInContact(impostor) {\n this._tmpContactCallbackResult = false;\n this.world.contactTest(impostor.physicsBody, this._tmpAmmoConcreteContactResultCallback);\n return this._tmpContactCallbackResult;\n }\n // Ammo's collision events have some weird quirks\n // contactPairTest fires too many events as it fires events even when objects are close together but contactTest does not\n // so only fire event if both contactTest and contactPairTest have a hit\n _isImpostorPairInContact(impostorA, impostorB) {\n this._tmpContactCallbackResult = false;\n this.world.contactPairTest(impostorA.physicsBody, impostorB.physicsBody, this._tmpAmmoConcreteContactResultCallback);\n return this._tmpContactCallbackResult;\n }\n // Ammo's behavior when maxSteps > 0 does not behave as described in docs\n // @see http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Stepping_The_World\n //\n // When maxSteps is 0 do the entire simulation in one step\n // When maxSteps is > 0, run up to maxStep times, if on the last step the (remaining step - fixedTimeStep) is < fixedTimeStep, the remainder will be used for the step. (eg. if remainder is 1.001 and fixedTimeStep is 1 the last step will be 1.001, if instead it did 2 steps (1, 0.001) issues occuered when having a tiny step in ammo)\n // Note: To get deterministic physics, timeStep would always need to be divisible by fixedTimeStep\n _stepSimulation(timeStep = 1 / 60, maxSteps = 10, fixedTimeStep = 1 / 60) {\n if (maxSteps == 0) {\n this.world.stepSimulation(timeStep, 0);\n } else {\n while (maxSteps > 0 && timeStep > 0) {\n if (timeStep - fixedTimeStep < fixedTimeStep) {\n this.world.stepSimulation(timeStep, 0);\n timeStep = 0;\n } else {\n timeStep -= fixedTimeStep;\n this.world.stepSimulation(fixedTimeStep, 0);\n }\n maxSteps--;\n }\n }\n }\n /**\n * Moves the physics simulation forward delta seconds and updates the given physics imposters\n * Prior to the step the imposters physics location is set to the position of the babylon meshes\n * After the step the babylon meshes are set to the position of the physics imposters\n * @param delta amount of time to step forward\n * @param impostors array of imposters to update before/after the step\n */\n executeStep(delta, impostors) {\n for (const impostor of impostors) {\n // Update physics world objects to match babylon world\n if (!impostor.soft) {\n impostor.beforeStep();\n }\n }\n this._stepSimulation(this._useDeltaForWorldStep ? delta : this._timeStep, this._maxSteps, this._fixedTimeStep);\n for (const mainImpostor of impostors) {\n // After physics update make babylon world objects match physics world objects\n if (mainImpostor.soft) {\n this._afterSoftStep(mainImpostor);\n } else {\n mainImpostor.afterStep();\n }\n // Handle collision event\n if (mainImpostor._onPhysicsCollideCallbacks.length > 0) {\n if (this._isImpostorInContact(mainImpostor)) {\n for (const collideCallback of mainImpostor._onPhysicsCollideCallbacks) {\n for (const otherImpostor of collideCallback.otherImpostors) {\n if (mainImpostor.physicsBody.isActive() || otherImpostor.physicsBody.isActive()) {\n if (this._isImpostorPairInContact(mainImpostor, otherImpostor)) {\n mainImpostor.onCollide({\n body: otherImpostor.physicsBody,\n point: this._tmpContactPoint,\n distance: this._tmpContactDistance,\n impulse: this._tmpContactImpulse,\n normal: this._tmpContactNormal\n });\n otherImpostor.onCollide({\n body: mainImpostor.physicsBody,\n point: this._tmpContactPoint,\n distance: this._tmpContactDistance,\n impulse: this._tmpContactImpulse,\n normal: this._tmpContactNormal\n });\n }\n }\n }\n }\n }\n }\n }\n }\n /**\n * Update babylon mesh to match physics world object\n * @param impostor imposter to match\n */\n _afterSoftStep(impostor) {\n if (impostor.type === PhysicsImpostor.RopeImpostor) {\n this._ropeStep(impostor);\n } else {\n this._softbodyOrClothStep(impostor);\n }\n }\n /**\n * Update babylon mesh vertices vertices to match physics world softbody or cloth\n * @param impostor imposter to match\n */\n _ropeStep(impostor) {\n const bodyVertices = impostor.physicsBody.get_m_nodes();\n const nbVertices = bodyVertices.size();\n let node;\n let nodePositions;\n let x, y, z;\n const path = new Array();\n for (let n = 0; n < nbVertices; n++) {\n node = bodyVertices.at(n);\n nodePositions = node.get_m_x();\n x = nodePositions.x();\n y = nodePositions.y();\n z = nodePositions.z();\n path.push(new Vector3(x, y, z));\n }\n const object = impostor.object;\n const shape = impostor.getParam(\"shape\");\n if (impostor._isFromLine) {\n impostor.object = CreateLines(\"lines\", {\n points: path,\n instance: object\n });\n } else {\n impostor.object = ExtrudeShape(\"ext\", {\n shape: shape,\n path: path,\n instance: object\n });\n }\n }\n /**\n * Update babylon mesh vertices vertices to match physics world softbody or cloth\n * @param impostor imposter to match\n */\n _softbodyOrClothStep(impostor) {\n const normalDirection = impostor.type === PhysicsImpostor.ClothImpostor ? 1 : -1;\n const object = impostor.object;\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n let vertexNormals = object.getVerticesData(VertexBuffer.NormalKind);\n if (!vertexNormals) {\n vertexNormals = [];\n }\n const nbVertices = vertexPositions.length / 3;\n const bodyVertices = impostor.physicsBody.get_m_nodes();\n let node;\n let nodePositions;\n let x, y, z;\n let nx, ny, nz;\n for (let n = 0; n < nbVertices; n++) {\n node = bodyVertices.at(n);\n nodePositions = node.get_m_x();\n x = nodePositions.x();\n y = nodePositions.y();\n z = nodePositions.z() * normalDirection;\n const nodeNormals = node.get_m_n();\n nx = nodeNormals.x();\n ny = nodeNormals.y();\n nz = nodeNormals.z() * normalDirection;\n vertexPositions[3 * n] = x;\n vertexPositions[3 * n + 1] = y;\n vertexPositions[3 * n + 2] = z;\n vertexNormals[3 * n] = nx;\n vertexNormals[3 * n + 1] = ny;\n vertexNormals[3 * n + 2] = nz;\n }\n const vertex_data = new VertexData();\n vertex_data.positions = vertexPositions;\n vertex_data.normals = vertexNormals;\n vertex_data.uvs = object.getVerticesData(VertexBuffer.UVKind);\n vertex_data.colors = object.getVerticesData(VertexBuffer.ColorKind);\n if (object && object.getIndices) {\n vertex_data.indices = object.getIndices();\n }\n vertex_data.applyToMesh(object);\n }\n /**\n * Applies an impulse on the imposter\n * @param impostor imposter to apply impulse to\n * @param force amount of force to be applied to the imposter\n * @param contactPoint the location to apply the impulse on the imposter\n */\n applyImpulse(impostor, force, contactPoint) {\n if (!impostor.soft) {\n impostor.physicsBody.activate();\n const worldPoint = this._tmpAmmoVectorA;\n const impulse = this._tmpAmmoVectorB;\n // Convert contactPoint relative to center of mass\n if (impostor.object && impostor.object.getWorldMatrix) {\n contactPoint.subtractInPlace(impostor.object.getWorldMatrix().getTranslation());\n }\n worldPoint.setValue(contactPoint.x, contactPoint.y, contactPoint.z);\n impulse.setValue(force.x, force.y, force.z);\n impostor.physicsBody.applyImpulse(impulse, worldPoint);\n } else {\n Logger.Warn(\"Cannot be applied to a soft body\");\n }\n }\n /**\n * Applies a force on the imposter\n * @param impostor imposter to apply force\n * @param force amount of force to be applied to the imposter\n * @param contactPoint the location to apply the force on the imposter\n */\n applyForce(impostor, force, contactPoint) {\n if (!impostor.soft) {\n impostor.physicsBody.activate();\n const worldPoint = this._tmpAmmoVectorA;\n const impulse = this._tmpAmmoVectorB;\n // Convert contactPoint relative to center of mass\n if (impostor.object && impostor.object.getWorldMatrix) {\n const localTranslation = impostor.object.getWorldMatrix().getTranslation();\n worldPoint.setValue(contactPoint.x - localTranslation.x, contactPoint.y - localTranslation.y, contactPoint.z - localTranslation.z);\n } else {\n worldPoint.setValue(contactPoint.x, contactPoint.y, contactPoint.z);\n }\n impulse.setValue(force.x, force.y, force.z);\n impostor.physicsBody.applyForce(impulse, worldPoint);\n } else {\n Logger.Warn(\"Cannot be applied to a soft body\");\n }\n }\n /**\n * Creates a physics body using the plugin\n * @param impostor the imposter to create the physics body on\n */\n generatePhysicsBody(impostor) {\n // Note: this method will not be called on child imposotrs for compound impostors\n impostor._pluginData.toDispose = [];\n //parent-child relationship\n if (impostor.parent) {\n if (impostor.physicsBody) {\n this.removePhysicsBody(impostor);\n impostor.forceUpdate();\n }\n return;\n }\n if (impostor.isBodyInitRequired()) {\n const colShape = this._createShape(impostor);\n const mass = impostor.getParam(\"mass\");\n impostor._pluginData.mass = mass;\n if (impostor.soft) {\n colShape.get_m_cfg().set_collisions(0x11);\n colShape.get_m_cfg().set_kDP(impostor.getParam(\"damping\"));\n this.bjsAMMO.castObject(colShape, this.bjsAMMO.btCollisionObject).getCollisionShape().setMargin(impostor.getParam(\"margin\"));\n colShape.setActivationState(AmmoJSPlugin._DISABLE_DEACTIVATION_FLAG);\n this.world.addSoftBody(colShape, 1, -1);\n impostor.physicsBody = colShape;\n impostor._pluginData.toDispose.push(colShape);\n this.setBodyPressure(impostor, 0);\n if (impostor.type === PhysicsImpostor.SoftbodyImpostor) {\n this.setBodyPressure(impostor, impostor.getParam(\"pressure\"));\n }\n this.setBodyStiffness(impostor, impostor.getParam(\"stiffness\"));\n this.setBodyVelocityIterations(impostor, impostor.getParam(\"velocityIterations\"));\n this.setBodyPositionIterations(impostor, impostor.getParam(\"positionIterations\"));\n } else {\n const localInertia = new this.bjsAMMO.btVector3(0, 0, 0);\n const startTransform = new this.bjsAMMO.btTransform();\n impostor.object.computeWorldMatrix(true);\n startTransform.setIdentity();\n if (mass !== 0) {\n colShape.calculateLocalInertia(mass, localInertia);\n }\n this._tmpAmmoVectorA.setValue(impostor.object.position.x, impostor.object.position.y, impostor.object.position.z);\n this._tmpAmmoQuaternion.setValue(impostor.object.rotationQuaternion.x, impostor.object.rotationQuaternion.y, impostor.object.rotationQuaternion.z, impostor.object.rotationQuaternion.w);\n startTransform.setOrigin(this._tmpAmmoVectorA);\n startTransform.setRotation(this._tmpAmmoQuaternion);\n const myMotionState = new this.bjsAMMO.btDefaultMotionState(startTransform);\n const rbInfo = new this.bjsAMMO.btRigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);\n const body = new this.bjsAMMO.btRigidBody(rbInfo);\n // Make objects kinematic if it's mass is 0\n if (mass === 0) {\n body.setCollisionFlags(body.getCollisionFlags() | AmmoJSPlugin._KINEMATIC_FLAG);\n body.setActivationState(AmmoJSPlugin._DISABLE_DEACTIVATION_FLAG);\n }\n // Disable collision if NoImpostor, but keep collision if shape is btCompoundShape\n if (impostor.type == PhysicsImpostor.NoImpostor && !colShape.getChildShape) {\n body.setCollisionFlags(body.getCollisionFlags() | AmmoJSPlugin._DISABLE_COLLISION_FLAG);\n }\n // compute delta position: compensate the difference between shape center and mesh origin\n if (impostor.type !== PhysicsImpostor.MeshImpostor && impostor.type !== PhysicsImpostor.NoImpostor) {\n const boundingInfo = impostor.object.getBoundingInfo();\n this._tmpVec3.copyFrom(impostor.object.getAbsolutePosition());\n this._tmpVec3.subtractInPlace(boundingInfo.boundingBox.centerWorld);\n this._tmpVec3.x /= impostor.object.scaling.x;\n this._tmpVec3.y /= impostor.object.scaling.y;\n this._tmpVec3.z /= impostor.object.scaling.z;\n impostor.setDeltaPosition(this._tmpVec3);\n }\n const group = impostor.getParam(\"group\");\n const mask = impostor.getParam(\"mask\");\n if (group && mask) {\n this.world.addRigidBody(body, group, mask);\n } else {\n this.world.addRigidBody(body);\n }\n impostor.physicsBody = body;\n impostor._pluginData.toDispose = impostor._pluginData.toDispose.concat([body, rbInfo, myMotionState, startTransform, localInertia, colShape]);\n }\n this.setBodyRestitution(impostor, impostor.getParam(\"restitution\"));\n this.setBodyFriction(impostor, impostor.getParam(\"friction\"));\n }\n }\n /**\n * Removes the physics body from the imposter and disposes of the body's memory\n * @param impostor imposter to remove the physics body from\n */\n removePhysicsBody(impostor) {\n if (this.world) {\n if (impostor.soft) {\n this.world.removeSoftBody(impostor.physicsBody);\n } else {\n this.world.removeRigidBody(impostor.physicsBody);\n }\n if (impostor._pluginData) {\n impostor._pluginData.toDispose.forEach(d => {\n this.bjsAMMO.destroy(d);\n });\n impostor._pluginData.toDispose = [];\n }\n }\n }\n /**\n * Generates a joint\n * @param impostorJoint the imposter joint to create the joint with\n */\n generateJoint(impostorJoint) {\n const mainBody = impostorJoint.mainImpostor.physicsBody;\n const connectedBody = impostorJoint.connectedImpostor.physicsBody;\n if (!mainBody || !connectedBody) {\n return;\n }\n // if the joint is already created, don't create it again for preventing memory leaks\n if (impostorJoint.joint.physicsJoint) {\n return;\n }\n const jointData = impostorJoint.joint.jointData;\n if (!jointData.mainPivot) {\n jointData.mainPivot = new Vector3(0, 0, 0);\n }\n if (!jointData.connectedPivot) {\n jointData.connectedPivot = new Vector3(0, 0, 0);\n }\n let joint;\n switch (impostorJoint.joint.type) {\n case PhysicsJoint.DistanceJoint:\n {\n const distance = jointData.maxDistance;\n if (distance) {\n jointData.mainPivot = new Vector3(0, -distance / 2, 0);\n jointData.connectedPivot = new Vector3(0, distance / 2, 0);\n }\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n joint = new this.bjsAMMO.btPoint2PointConstraint(mainBody, connectedBody, mainPivot, connectedPivot);\n break;\n }\n case PhysicsJoint.HingeJoint:\n {\n if (!jointData.mainAxis) {\n jointData.mainAxis = new Vector3(0, 0, 0);\n }\n if (!jointData.connectedAxis) {\n jointData.connectedAxis = new Vector3(0, 0, 0);\n }\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n const mainAxis = this._tmpAmmoVectorC;\n mainAxis.setValue(jointData.mainAxis.x, jointData.mainAxis.y, jointData.mainAxis.z);\n const connectedAxis = this._tmpAmmoVectorD;\n connectedAxis.setValue(jointData.connectedAxis.x, jointData.connectedAxis.y, jointData.connectedAxis.z);\n joint = new this.bjsAMMO.btHingeConstraint(mainBody, connectedBody, mainPivot, connectedPivot, mainAxis, connectedAxis);\n break;\n }\n case PhysicsJoint.BallAndSocketJoint:\n {\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n joint = new this.bjsAMMO.btPoint2PointConstraint(mainBody, connectedBody, mainPivot, connectedPivot);\n break;\n }\n default:\n {\n Logger.Warn(\"JointType not currently supported by the Ammo plugin, falling back to PhysicsJoint.BallAndSocketJoint\");\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n joint = new this.bjsAMMO.btPoint2PointConstraint(mainBody, connectedBody, mainPivot, connectedPivot);\n break;\n }\n }\n this.world.addConstraint(joint, !impostorJoint.joint.jointData.collision);\n impostorJoint.joint.physicsJoint = joint;\n }\n /**\n * Removes a joint\n * @param impostorJoint the imposter joint to remove the joint from\n */\n removeJoint(impostorJoint) {\n if (this.world) {\n this.world.removeConstraint(impostorJoint.joint.physicsJoint);\n }\n this.bjsAMMO.destroy(impostorJoint.joint.physicsJoint);\n }\n // adds all verticies (including child verticies) to the triangle mesh\n _addMeshVerts(btTriangleMesh, topLevelObject, object) {\n let triangleCount = 0;\n if (object && object.getIndices && object.getWorldMatrix && object.getChildMeshes) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n let localMatrix;\n if (topLevelObject && topLevelObject !== object) {\n // top level matrix used for shape transform doesn't take scale into account.\n // Moreover, every children vertex position must be in that space.\n // So, each vertex position here is transform by (mesh world matrix * toplevelMatrix -1)\n let topLevelQuaternion;\n if (topLevelObject.rotationQuaternion) {\n topLevelQuaternion = topLevelObject.rotationQuaternion;\n } else if (topLevelObject.rotation) {\n topLevelQuaternion = Quaternion.FromEulerAngles(topLevelObject.rotation.x, topLevelObject.rotation.y, topLevelObject.rotation.z);\n } else {\n topLevelQuaternion = Quaternion.Identity();\n }\n const topLevelMatrix = Matrix.Compose(Vector3.One(), topLevelQuaternion, topLevelObject.position);\n topLevelMatrix.invertToRef(this._tmpMatrix);\n const wm = object.computeWorldMatrix(false);\n localMatrix = wm.multiply(this._tmpMatrix);\n } else {\n // current top level is same as object level -> only use local scaling\n Matrix.ScalingToRef(object.scaling.x, object.scaling.y, object.scaling.z, this._tmpMatrix);\n localMatrix = this._tmpMatrix;\n }\n const faceCount = indices.length / 3;\n for (let i = 0; i < faceCount; i++) {\n const triPoints = [];\n for (let point = 0; point < 3; point++) {\n let v = new Vector3(vertexPositions[indices[i * 3 + point] * 3 + 0], vertexPositions[indices[i * 3 + point] * 3 + 1], vertexPositions[indices[i * 3 + point] * 3 + 2]);\n v = Vector3.TransformCoordinates(v, localMatrix);\n let vec;\n if (point == 0) {\n vec = this._tmpAmmoVectorA;\n } else if (point == 1) {\n vec = this._tmpAmmoVectorB;\n } else {\n vec = this._tmpAmmoVectorC;\n }\n vec.setValue(v.x, v.y, v.z);\n triPoints.push(vec);\n }\n btTriangleMesh.addTriangle(triPoints[0], triPoints[1], triPoints[2]);\n triangleCount++;\n }\n object.getChildMeshes().forEach(m => {\n triangleCount += this._addMeshVerts(btTriangleMesh, topLevelObject, m);\n });\n }\n return triangleCount;\n }\n /**\n * Initialise the soft body vertices to match its object's (mesh) vertices\n * Softbody vertices (nodes) are in world space and to match this\n * The object's position and rotation is set to zero and so its vertices are also then set in world space\n * @param impostor to create the softbody for\n * @returns the number of vertices added to the softbody\n */\n _softVertexData(impostor) {\n const object = impostor.object;\n if (object && object.getIndices && object.getWorldMatrix && object.getChildMeshes) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n let vertexNormals = object.getVerticesData(VertexBuffer.NormalKind);\n if (!vertexNormals) {\n vertexNormals = [];\n }\n object.computeWorldMatrix(false);\n const newPoints = [];\n const newNorms = [];\n for (let i = 0; i < vertexPositions.length; i += 3) {\n let v = new Vector3(vertexPositions[i], vertexPositions[i + 1], vertexPositions[i + 2]);\n let n = new Vector3(vertexNormals[i], vertexNormals[i + 1], vertexNormals[i + 2]);\n v = Vector3.TransformCoordinates(v, object.getWorldMatrix());\n n = Vector3.TransformNormal(n, object.getWorldMatrix());\n newPoints.push(v.x, v.y, v.z);\n newNorms.push(n.x, n.y, n.z);\n }\n const vertex_data = new VertexData();\n vertex_data.positions = newPoints;\n vertex_data.normals = newNorms;\n vertex_data.uvs = object.getVerticesData(VertexBuffer.UVKind);\n vertex_data.colors = object.getVerticesData(VertexBuffer.ColorKind);\n if (object && object.getIndices) {\n vertex_data.indices = object.getIndices();\n }\n vertex_data.applyToMesh(object);\n object.position = Vector3.Zero();\n object.rotationQuaternion = null;\n object.rotation = Vector3.Zero();\n object.computeWorldMatrix(true);\n return vertex_data;\n }\n return VertexData.ExtractFromMesh(object);\n }\n /**\n * Create an impostor's soft body\n * @param impostor to create the softbody for\n * @returns the softbody\n */\n _createSoftbody(impostor) {\n const object = impostor.object;\n if (object && object.getIndices) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n const vertex_data = this._softVertexData(impostor);\n const vertexPositions = vertex_data.positions;\n const vertexNormals = vertex_data.normals;\n if (vertexPositions === null || vertexNormals === null) {\n return new this.bjsAMMO.btCompoundShape();\n } else {\n const triPoints = [];\n const triNorms = [];\n for (let i = 0; i < vertexPositions.length; i += 3) {\n const v = new Vector3(vertexPositions[i], vertexPositions[i + 1], vertexPositions[i + 2]);\n const n = new Vector3(vertexNormals[i], vertexNormals[i + 1], vertexNormals[i + 2]);\n triPoints.push(v.x, v.y, -v.z);\n triNorms.push(n.x, n.y, -n.z);\n }\n const softBody = new this.bjsAMMO.btSoftBodyHelpers().CreateFromTriMesh(this.world.getWorldInfo(), triPoints, object.getIndices(), indices.length / 3, true);\n const nbVertices = vertexPositions.length / 3;\n const bodyVertices = softBody.get_m_nodes();\n let node;\n let nodeNormals;\n for (let i = 0; i < nbVertices; i++) {\n node = bodyVertices.at(i);\n nodeNormals = node.get_m_n();\n nodeNormals.setX(triNorms[3 * i]);\n nodeNormals.setY(triNorms[3 * i + 1]);\n nodeNormals.setZ(triNorms[3 * i + 2]);\n }\n return softBody;\n }\n }\n }\n /**\n * Create cloth for an impostor\n * @param impostor to create the softbody for\n * @returns the cloth\n */\n _createCloth(impostor) {\n const object = impostor.object;\n if (object && object.getIndices) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n const vertex_data = this._softVertexData(impostor);\n const vertexPositions = vertex_data.positions;\n const vertexNormals = vertex_data.normals;\n if (vertexPositions === null || vertexNormals === null) {\n return new this.bjsAMMO.btCompoundShape();\n } else {\n const len = vertexPositions.length;\n const segments = Math.sqrt(len / 3);\n impostor.segments = segments;\n const segs = segments - 1;\n this._tmpAmmoVectorA.setValue(vertexPositions[0], vertexPositions[1], vertexPositions[2]);\n this._tmpAmmoVectorB.setValue(vertexPositions[3 * segs], vertexPositions[3 * segs + 1], vertexPositions[3 * segs + 2]);\n this._tmpAmmoVectorD.setValue(vertexPositions[len - 3], vertexPositions[len - 2], vertexPositions[len - 1]);\n this._tmpAmmoVectorC.setValue(vertexPositions[len - 3 - 3 * segs], vertexPositions[len - 2 - 3 * segs], vertexPositions[len - 1 - 3 * segs]);\n const clothBody = new this.bjsAMMO.btSoftBodyHelpers().CreatePatch(this.world.getWorldInfo(), this._tmpAmmoVectorA, this._tmpAmmoVectorB, this._tmpAmmoVectorC, this._tmpAmmoVectorD, segments, segments, impostor.getParam(\"fixedPoints\"), true);\n return clothBody;\n }\n }\n }\n /**\n * Create rope for an impostor\n * @param impostor to create the softbody for\n * @returns the rope\n */\n _createRope(impostor) {\n let len;\n let segments;\n const vertex_data = this._softVertexData(impostor);\n const vertexPositions = vertex_data.positions;\n const vertexNormals = vertex_data.normals;\n if (vertexPositions === null || vertexNormals === null) {\n return new this.bjsAMMO.btCompoundShape();\n }\n //force the mesh to be updatable\n vertex_data.applyToMesh(impostor.object, true);\n impostor._isFromLine = true;\n // If in lines mesh all normals will be zero\n const vertexSquared = vertexNormals.map(x => x * x);\n const reducer = (accumulator, currentValue) => accumulator + currentValue;\n const reduced = vertexSquared.reduce(reducer);\n if (reduced === 0) {\n // line mesh\n len = vertexPositions.length;\n segments = len / 3 - 1;\n this._tmpAmmoVectorA.setValue(vertexPositions[0], vertexPositions[1], vertexPositions[2]);\n this._tmpAmmoVectorB.setValue(vertexPositions[len - 3], vertexPositions[len - 2], vertexPositions[len - 1]);\n } else {\n //extruded mesh\n impostor._isFromLine = false;\n const pathVectors = impostor.getParam(\"path\");\n const shape = impostor.getParam(\"shape\");\n if (shape === null) {\n Logger.Warn(\"No shape available for extruded mesh\");\n return new this.bjsAMMO.btCompoundShape();\n }\n len = pathVectors.length;\n segments = len - 1;\n this._tmpAmmoVectorA.setValue(pathVectors[0].x, pathVectors[0].y, pathVectors[0].z);\n this._tmpAmmoVectorB.setValue(pathVectors[len - 1].x, pathVectors[len - 1].y, pathVectors[len - 1].z);\n }\n impostor.segments = segments;\n let fixedPoints = impostor.getParam(\"fixedPoints\");\n fixedPoints = fixedPoints > 3 ? 3 : fixedPoints;\n const ropeBody = new this.bjsAMMO.btSoftBodyHelpers().CreateRope(this.world.getWorldInfo(), this._tmpAmmoVectorA, this._tmpAmmoVectorB, segments - 1, fixedPoints);\n ropeBody.get_m_cfg().set_collisions(0x11);\n return ropeBody;\n }\n /**\n * Create a custom physics impostor shape using the plugin's onCreateCustomShape handler\n * @param impostor to create the custom physics shape for\n * @returns the custom physics shape\n */\n _createCustom(impostor) {\n let returnValue = null;\n if (this.onCreateCustomShape) {\n returnValue = this.onCreateCustomShape(impostor);\n }\n if (returnValue == null) {\n returnValue = new this.bjsAMMO.btCompoundShape();\n }\n return returnValue;\n }\n // adds all verticies (including child verticies) to the convex hull shape\n _addHullVerts(btConvexHullShape, topLevelObject, object) {\n let triangleCount = 0;\n if (object && object.getIndices && object.getWorldMatrix && object.getChildMeshes) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n object.computeWorldMatrix(false);\n const faceCount = indices.length / 3;\n for (let i = 0; i < faceCount; i++) {\n const triPoints = [];\n for (let point = 0; point < 3; point++) {\n let v = new Vector3(vertexPositions[indices[i * 3 + point] * 3 + 0], vertexPositions[indices[i * 3 + point] * 3 + 1], vertexPositions[indices[i * 3 + point] * 3 + 2]);\n // Adjust for initial scaling\n Matrix.ScalingToRef(object.scaling.x, object.scaling.y, object.scaling.z, this._tmpMatrix);\n v = Vector3.TransformCoordinates(v, this._tmpMatrix);\n let vec;\n if (point == 0) {\n vec = this._tmpAmmoVectorA;\n } else if (point == 1) {\n vec = this._tmpAmmoVectorB;\n } else {\n vec = this._tmpAmmoVectorC;\n }\n vec.setValue(v.x, v.y, v.z);\n triPoints.push(vec);\n }\n btConvexHullShape.addPoint(triPoints[0], true);\n btConvexHullShape.addPoint(triPoints[1], true);\n btConvexHullShape.addPoint(triPoints[2], true);\n triangleCount++;\n }\n object.getChildMeshes().forEach(m => {\n triangleCount += this._addHullVerts(btConvexHullShape, topLevelObject, m);\n });\n }\n return triangleCount;\n }\n _createShape(impostor, ignoreChildren = false) {\n const object = impostor.object;\n let returnValue;\n const impostorExtents = impostor.getObjectExtents();\n if (!ignoreChildren) {\n const meshChildren = impostor.object.getChildMeshes ? impostor.object.getChildMeshes(true) : [];\n returnValue = new this.bjsAMMO.btCompoundShape();\n // Add shape of all children to the compound shape\n let childrenAdded = 0;\n meshChildren.forEach(childMesh => {\n const childImpostor = childMesh.getPhysicsImpostor();\n if (childImpostor) {\n if (childImpostor.type == PhysicsImpostor.MeshImpostor) {\n // eslint-disable-next-line no-throw-literal\n throw \"A child MeshImpostor is not supported. Only primitive impostors are supported as children (eg. box or sphere)\";\n }\n const shape = this._createShape(childImpostor);\n // Position needs to be scaled based on parent's scaling\n const parentMat = childMesh.parent.getWorldMatrix().clone();\n const s = new Vector3();\n parentMat.decompose(s);\n this._tmpAmmoTransform.getOrigin().setValue(childMesh.position.x * s.x, childMesh.position.y * s.y, childMesh.position.z * s.z);\n this._tmpAmmoQuaternion.setValue(childMesh.rotationQuaternion.x, childMesh.rotationQuaternion.y, childMesh.rotationQuaternion.z, childMesh.rotationQuaternion.w);\n this._tmpAmmoTransform.setRotation(this._tmpAmmoQuaternion);\n returnValue.addChildShape(this._tmpAmmoTransform, shape);\n childImpostor.dispose();\n childrenAdded++;\n }\n });\n if (childrenAdded > 0) {\n // Add parents shape as a child if present\n if (impostor.type != PhysicsImpostor.NoImpostor) {\n const shape = this._createShape(impostor, true);\n if (shape) {\n this._tmpAmmoTransform.getOrigin().setValue(0, 0, 0);\n this._tmpAmmoQuaternion.setValue(0, 0, 0, 1);\n this._tmpAmmoTransform.setRotation(this._tmpAmmoQuaternion);\n returnValue.addChildShape(this._tmpAmmoTransform, shape);\n }\n }\n return returnValue;\n } else {\n // If no children with impostors create the actual shape below instead\n this.bjsAMMO.destroy(returnValue);\n returnValue = null;\n }\n }\n switch (impostor.type) {\n case PhysicsImpostor.SphereImpostor:\n // Is there a better way to compare floats number? With an epsilon or with a Math function\n if (WithinEpsilon(impostorExtents.x, impostorExtents.y, 0.0001) && WithinEpsilon(impostorExtents.x, impostorExtents.z, 0.0001)) {\n returnValue = new this.bjsAMMO.btSphereShape(impostorExtents.x / 2);\n } else {\n // create a btMultiSphereShape because it's not possible to set a local scaling on a btSphereShape\n this._tmpAmmoVectorA.setValue(0, 0, 0);\n const positions = [this._tmpAmmoVectorA];\n const radii = [1];\n returnValue = new this.bjsAMMO.btMultiSphereShape(positions, radii, 1);\n this._tmpAmmoVectorA.setValue(impostorExtents.x / 2, impostorExtents.y / 2, impostorExtents.z / 2);\n returnValue.setLocalScaling(this._tmpAmmoVectorA);\n }\n break;\n case PhysicsImpostor.CapsuleImpostor:\n {\n // https://pybullet.org/Bullet/BulletFull/classbtCapsuleShape.html#details\n // Height is just the height between the center of each 'sphere' of the capsule caps\n const capRadius = impostorExtents.x / 2;\n returnValue = new this.bjsAMMO.btCapsuleShape(capRadius, impostorExtents.y - capRadius * 2);\n }\n break;\n case PhysicsImpostor.CylinderImpostor:\n this._tmpAmmoVectorA.setValue(impostorExtents.x / 2, impostorExtents.y / 2, impostorExtents.z / 2);\n returnValue = new this.bjsAMMO.btCylinderShape(this._tmpAmmoVectorA);\n break;\n case PhysicsImpostor.PlaneImpostor:\n case PhysicsImpostor.BoxImpostor:\n this._tmpAmmoVectorA.setValue(impostorExtents.x / 2, impostorExtents.y / 2, impostorExtents.z / 2);\n returnValue = new this.bjsAMMO.btBoxShape(this._tmpAmmoVectorA);\n break;\n case PhysicsImpostor.MeshImpostor:\n {\n if (impostor.getParam(\"mass\") == 0) {\n // Only create btBvhTriangleMeshShape if the impostor is static\n // See https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=7283\n if (this.onCreateCustomMeshImpostor) {\n returnValue = this.onCreateCustomMeshImpostor(impostor);\n } else {\n const triMesh = new this.bjsAMMO.btTriangleMesh();\n impostor._pluginData.toDispose.push(triMesh);\n const triangleCount = this._addMeshVerts(triMesh, object, object);\n if (triangleCount == 0) {\n returnValue = new this.bjsAMMO.btCompoundShape();\n } else {\n returnValue = new this.bjsAMMO.btBvhTriangleMeshShape(triMesh);\n }\n }\n break;\n }\n }\n // Otherwise create convexHullImpostor\n // eslint-disable-next-line no-fallthrough\n case PhysicsImpostor.ConvexHullImpostor:\n {\n if (this.onCreateCustomConvexHullImpostor) {\n returnValue = this.onCreateCustomConvexHullImpostor(impostor);\n } else {\n const convexHull = new this.bjsAMMO.btConvexHullShape();\n const triangleCount = this._addHullVerts(convexHull, object, object);\n if (triangleCount == 0) {\n // Cleanup Unused Convex Hull Shape\n impostor._pluginData.toDispose.push(convexHull);\n returnValue = new this.bjsAMMO.btCompoundShape();\n } else {\n returnValue = convexHull;\n }\n }\n break;\n }\n case PhysicsImpostor.NoImpostor:\n // Fill with sphere but collision is disabled on the rigid body in generatePhysicsBody, using an empty shape caused unexpected movement with joints\n returnValue = new this.bjsAMMO.btSphereShape(impostorExtents.x / 2);\n break;\n case PhysicsImpostor.CustomImpostor:\n // Only usable when the plugin's onCreateCustomShape is set\n returnValue = this._createCustom(impostor);\n break;\n case PhysicsImpostor.SoftbodyImpostor:\n // Only usable with a mesh that has sufficient and shared vertices\n returnValue = this._createSoftbody(impostor);\n break;\n case PhysicsImpostor.ClothImpostor:\n // Only usable with a ground mesh that has sufficient and shared vertices\n returnValue = this._createCloth(impostor);\n break;\n case PhysicsImpostor.RopeImpostor:\n // Only usable with a line mesh or an extruded mesh that is updatable\n returnValue = this._createRope(impostor);\n break;\n default:\n Logger.Warn(\"The impostor type is not currently supported by the ammo plugin.\");\n break;\n }\n return returnValue;\n }\n /**\n * Sets the mesh body position/rotation from the babylon impostor\n * @param impostor imposter containing the physics body and babylon object\n */\n setTransformationFromPhysicsBody(impostor) {\n impostor.physicsBody.getMotionState().getWorldTransform(this._tmpAmmoTransform);\n impostor.object.position.set(this._tmpAmmoTransform.getOrigin().x(), this._tmpAmmoTransform.getOrigin().y(), this._tmpAmmoTransform.getOrigin().z());\n if (!impostor.object.rotationQuaternion) {\n if (impostor.object.rotation) {\n this._tmpQuaternion.set(this._tmpAmmoTransform.getRotation().x(), this._tmpAmmoTransform.getRotation().y(), this._tmpAmmoTransform.getRotation().z(), this._tmpAmmoTransform.getRotation().w());\n this._tmpQuaternion.toEulerAnglesToRef(impostor.object.rotation);\n }\n } else {\n impostor.object.rotationQuaternion.set(this._tmpAmmoTransform.getRotation().x(), this._tmpAmmoTransform.getRotation().y(), this._tmpAmmoTransform.getRotation().z(), this._tmpAmmoTransform.getRotation().w());\n }\n }\n /**\n * Sets the babylon object's position/rotation from the physics body's position/rotation\n * @param impostor imposter containing the physics body and babylon object\n * @param newPosition new position\n * @param newRotation new rotation\n */\n setPhysicsBodyTransformation(impostor, newPosition, newRotation) {\n const trans = impostor.physicsBody.getWorldTransform();\n // If rotation/position has changed update and activate rigged body\n if (Math.abs(trans.getOrigin().x() - newPosition.x) > Epsilon || Math.abs(trans.getOrigin().y() - newPosition.y) > Epsilon || Math.abs(trans.getOrigin().z() - newPosition.z) > Epsilon || Math.abs(trans.getRotation().x() - newRotation.x) > Epsilon || Math.abs(trans.getRotation().y() - newRotation.y) > Epsilon || Math.abs(trans.getRotation().z() - newRotation.z) > Epsilon || Math.abs(trans.getRotation().w() - newRotation.w) > Epsilon) {\n this._tmpAmmoVectorA.setValue(newPosition.x, newPosition.y, newPosition.z);\n trans.setOrigin(this._tmpAmmoVectorA);\n this._tmpAmmoQuaternion.setValue(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\n trans.setRotation(this._tmpAmmoQuaternion);\n impostor.physicsBody.setWorldTransform(trans);\n if (impostor.mass == 0) {\n // Kinematic objects must be updated using motion state\n const motionState = impostor.physicsBody.getMotionState();\n if (motionState) {\n motionState.setWorldTransform(trans);\n }\n } else {\n impostor.physicsBody.activate();\n }\n }\n }\n /**\n * If this plugin is supported\n * @returns true if its supported\n */\n isSupported() {\n return this.bjsAMMO !== undefined;\n }\n /**\n * Sets the linear velocity of the physics body\n * @param impostor imposter to set the velocity on\n * @param velocity velocity to set\n */\n setLinearVelocity(impostor, velocity) {\n this._tmpAmmoVectorA.setValue(velocity.x, velocity.y, velocity.z);\n if (impostor.soft) {\n impostor.physicsBody.linearVelocity(this._tmpAmmoVectorA);\n } else {\n impostor.physicsBody.setLinearVelocity(this._tmpAmmoVectorA);\n }\n }\n /**\n * Sets the angular velocity of the physics body\n * @param impostor imposter to set the velocity on\n * @param velocity velocity to set\n */\n setAngularVelocity(impostor, velocity) {\n this._tmpAmmoVectorA.setValue(velocity.x, velocity.y, velocity.z);\n if (impostor.soft) {\n impostor.physicsBody.angularVelocity(this._tmpAmmoVectorA);\n } else {\n impostor.physicsBody.setAngularVelocity(this._tmpAmmoVectorA);\n }\n }\n /**\n * gets the linear velocity\n * @param impostor imposter to get linear velocity from\n * @returns linear velocity\n */\n getLinearVelocity(impostor) {\n let v;\n if (impostor.soft) {\n v = impostor.physicsBody.linearVelocity();\n } else {\n v = impostor.physicsBody.getLinearVelocity();\n }\n if (!v) {\n return null;\n }\n const result = new Vector3(v.x(), v.y(), v.z());\n this.bjsAMMO.destroy(v);\n return result;\n }\n /**\n * gets the angular velocity\n * @param impostor imposter to get angular velocity from\n * @returns angular velocity\n */\n getAngularVelocity(impostor) {\n let v;\n if (impostor.soft) {\n v = impostor.physicsBody.angularVelocity();\n } else {\n v = impostor.physicsBody.getAngularVelocity();\n }\n if (!v) {\n return null;\n }\n const result = new Vector3(v.x(), v.y(), v.z());\n this.bjsAMMO.destroy(v);\n return result;\n }\n /**\n * Sets the mass of physics body\n * @param impostor imposter to set the mass on\n * @param mass mass to set\n */\n setBodyMass(impostor, mass) {\n if (impostor.soft) {\n impostor.physicsBody.setTotalMass(mass, false);\n } else {\n impostor.physicsBody.setMassProps(mass);\n }\n impostor._pluginData.mass = mass;\n }\n /**\n * Gets the mass of the physics body\n * @param impostor imposter to get the mass from\n * @returns mass\n */\n getBodyMass(impostor) {\n return impostor._pluginData.mass || 0;\n }\n /**\n * Gets friction of the impostor\n * @param impostor impostor to get friction from\n * @returns friction value\n */\n getBodyFriction(impostor) {\n return impostor._pluginData.friction || 0;\n }\n /**\n * Sets friction of the impostor\n * @param impostor impostor to set friction on\n * @param friction friction value\n */\n setBodyFriction(impostor, friction) {\n if (impostor.soft) {\n impostor.physicsBody.get_m_cfg().set_kDF(friction);\n } else {\n impostor.physicsBody.setFriction(friction);\n }\n impostor._pluginData.friction = friction;\n }\n /**\n * Gets restitution of the impostor\n * @param impostor impostor to get restitution from\n * @returns restitution value\n */\n getBodyRestitution(impostor) {\n return impostor._pluginData.restitution || 0;\n }\n /**\n * Sets restitution of the impostor\n * @param impostor impostor to set resitution on\n * @param restitution resitution value\n */\n setBodyRestitution(impostor, restitution) {\n impostor.physicsBody.setRestitution(restitution);\n impostor._pluginData.restitution = restitution;\n }\n /**\n * Gets pressure inside the impostor\n * @param impostor impostor to get pressure from\n * @returns pressure value\n */\n getBodyPressure(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Pressure is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.pressure || 0;\n }\n /**\n * Sets pressure inside a soft body impostor\n * Cloth and rope must remain 0 pressure\n * @param impostor impostor to set pressure on\n * @param pressure pressure value\n */\n setBodyPressure(impostor, pressure) {\n if (impostor.soft) {\n if (impostor.type === PhysicsImpostor.SoftbodyImpostor) {\n impostor.physicsBody.get_m_cfg().set_kPR(pressure);\n impostor._pluginData.pressure = pressure;\n } else {\n impostor.physicsBody.get_m_cfg().set_kPR(0);\n impostor._pluginData.pressure = 0;\n }\n } else {\n Logger.Warn(\"Pressure can only be applied to a softbody\");\n }\n }\n /**\n * Gets stiffness of the impostor\n * @param impostor impostor to get stiffness from\n * @returns pressure value\n */\n getBodyStiffness(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Stiffness is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.stiffness || 0;\n }\n /**\n * Sets stiffness of the impostor\n * @param impostor impostor to set stiffness on\n * @param stiffness stiffness value from 0 to 1\n */\n setBodyStiffness(impostor, stiffness) {\n if (impostor.soft) {\n stiffness = stiffness < 0 ? 0 : stiffness;\n stiffness = stiffness > 1 ? 1 : stiffness;\n impostor.physicsBody.get_m_materials().at(0).set_m_kLST(stiffness);\n impostor._pluginData.stiffness = stiffness;\n } else {\n Logger.Warn(\"Stiffness cannot be applied to a rigid body\");\n }\n }\n /**\n * Gets velocityIterations of the impostor\n * @param impostor impostor to get velocity iterations from\n * @returns velocityIterations value\n */\n getBodyVelocityIterations(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Velocity iterations is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.velocityIterations || 0;\n }\n /**\n * Sets velocityIterations of the impostor\n * @param impostor impostor to set velocity iterations on\n * @param velocityIterations velocityIterations value\n */\n setBodyVelocityIterations(impostor, velocityIterations) {\n if (impostor.soft) {\n velocityIterations = velocityIterations < 0 ? 0 : velocityIterations;\n impostor.physicsBody.get_m_cfg().set_viterations(velocityIterations);\n impostor._pluginData.velocityIterations = velocityIterations;\n } else {\n Logger.Warn(\"Velocity iterations cannot be applied to a rigid body\");\n }\n }\n /**\n * Gets positionIterations of the impostor\n * @param impostor impostor to get position iterations from\n * @returns positionIterations value\n */\n getBodyPositionIterations(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Position iterations is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.positionIterations || 0;\n }\n /**\n * Sets positionIterations of the impostor\n * @param impostor impostor to set position on\n * @param positionIterations positionIterations value\n */\n setBodyPositionIterations(impostor, positionIterations) {\n if (impostor.soft) {\n positionIterations = positionIterations < 0 ? 0 : positionIterations;\n impostor.physicsBody.get_m_cfg().set_piterations(positionIterations);\n impostor._pluginData.positionIterations = positionIterations;\n } else {\n Logger.Warn(\"Position iterations cannot be applied to a rigid body\");\n }\n }\n /**\n * Append an anchor to a cloth object\n * @param impostor is the cloth impostor to add anchor to\n * @param otherImpostor is the 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 soft impostor and anchor are ignored; default false\n */\n appendAnchor(impostor, otherImpostor, width, height, influence = 1, noCollisionBetweenLinkedBodies = false) {\n const segs = impostor.segments;\n const nbAcross = Math.round((segs - 1) * width);\n const nbUp = Math.round((segs - 1) * height);\n const nbDown = segs - 1 - nbUp;\n const node = nbAcross + segs * nbDown;\n impostor.physicsBody.appendAnchor(node, otherImpostor.physicsBody, noCollisionBetweenLinkedBodies, influence);\n }\n /**\n * Append an hook to a rope object\n * @param impostor is the rope impostor to add hook to\n * @param otherImpostor is the rigid impostor to hook to\n * @param length ratio along the rope from 0 to 1\n * @param influence the elasticity between soft 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 */\n appendHook(impostor, otherImpostor, length, influence = 1, noCollisionBetweenLinkedBodies = false) {\n const node = Math.round(impostor.segments * length);\n impostor.physicsBody.appendAnchor(node, otherImpostor.physicsBody, noCollisionBetweenLinkedBodies, influence);\n }\n /**\n * Sleeps the physics body and stops it from being active\n * @param impostor impostor to sleep\n */\n sleepBody(impostor) {\n impostor.physicsBody.forceActivationState(0);\n }\n /**\n * Activates the physics body\n * @param impostor impostor to activate\n */\n wakeUpBody(impostor) {\n impostor.physicsBody.activate();\n }\n /**\n * Updates the distance parameters of the joint\n */\n updateDistanceJoint() {\n Logger.Warn(\"updateDistanceJoint is not currently supported by the Ammo physics plugin\");\n }\n /**\n * Sets a motor on the joint\n * @param joint joint to set motor on\n * @param speed speed of the motor\n * @param maxForce maximum force of the motor\n */\n setMotor(joint, speed, maxForce) {\n joint.physicsJoint.enableAngularMotor(true, speed, maxForce);\n }\n /**\n * Sets the motors limit\n */\n setLimit() {\n Logger.Warn(\"setLimit is not currently supported by the Ammo physics plugin\");\n }\n /**\n * Syncs the position and rotation of a mesh with the impostor\n * @param mesh mesh to sync\n * @param impostor impostor to update the mesh with\n */\n syncMeshWithImpostor(mesh, impostor) {\n const body = impostor.physicsBody;\n body.getMotionState().getWorldTransform(this._tmpAmmoTransform);\n mesh.position.x = this._tmpAmmoTransform.getOrigin().x();\n mesh.position.y = this._tmpAmmoTransform.getOrigin().y();\n mesh.position.z = this._tmpAmmoTransform.getOrigin().z();\n if (mesh.rotationQuaternion) {\n mesh.rotationQuaternion.x = this._tmpAmmoTransform.getRotation().x();\n mesh.rotationQuaternion.y = this._tmpAmmoTransform.getRotation().y();\n mesh.rotationQuaternion.z = this._tmpAmmoTransform.getRotation().z();\n mesh.rotationQuaternion.w = this._tmpAmmoTransform.getRotation().w();\n }\n }\n /**\n * Gets the radius of the impostor\n * @param impostor impostor to get radius from\n * @returns the radius\n */\n getRadius(impostor) {\n const extents = impostor.getObjectExtents();\n return extents.x / 2;\n }\n /**\n * Gets the box size of the impostor\n * @param impostor impostor to get box size from\n * @param result the resulting box size\n */\n getBoxSizeToRef(impostor, result) {\n const extents = impostor.getObjectExtents();\n result.x = extents.x;\n result.y = extents.y;\n result.z = extents.z;\n }\n /**\n * Disposes of the impostor\n */\n dispose() {\n // Dispose of world\n this.bjsAMMO.destroy(this.world);\n this.bjsAMMO.destroy(this._softBodySolver);\n this.bjsAMMO.destroy(this._solver);\n this.bjsAMMO.destroy(this._overlappingPairCache);\n this.bjsAMMO.destroy(this._dispatcher);\n this.bjsAMMO.destroy(this._collisionConfiguration);\n // Dispose of temp variables\n this.bjsAMMO.destroy(this._tmpAmmoVectorA);\n this.bjsAMMO.destroy(this._tmpAmmoVectorB);\n this.bjsAMMO.destroy(this._tmpAmmoVectorC);\n this.bjsAMMO.destroy(this._tmpAmmoVectorD);\n this.bjsAMMO.destroy(this._tmpAmmoTransform);\n this.bjsAMMO.destroy(this._tmpAmmoQuaternion);\n this.bjsAMMO.destroy(this._tmpAmmoConcreteContactResultCallback);\n this.world = null;\n }\n /**\n * Does a raycast in the physics world\n * @param from where should the ray start?\n * @param to where should the ray end?\n * @returns PhysicsRaycastResult\n */\n raycast(from, to) {\n this.raycastToRef(from, to, this._raycastResult);\n return this._raycastResult;\n }\n /**\n * Does a raycast in the physics world\n * @param from when should the ray start?\n * @param to when should the ray end?\n * @param result resulting PhysicsRaycastResult\n */\n raycastToRef(from, to, result) {\n this._tmpAmmoVectorRCA = new this.bjsAMMO.btVector3(from.x, from.y, from.z);\n this._tmpAmmoVectorRCB = new this.bjsAMMO.btVector3(to.x, to.y, to.z);\n const rayCallback = new this.bjsAMMO.ClosestRayResultCallback(this._tmpAmmoVectorRCA, this._tmpAmmoVectorRCB);\n this.world.rayTest(this._tmpAmmoVectorRCA, this._tmpAmmoVectorRCB, rayCallback);\n result.reset(from, to);\n if (rayCallback.hasHit()) {\n // TODO: do we want/need the body? If so, set all the data\n /*\n var rigidBody = this.bjsAMMO.btRigidBody.prototype.upcast(\n rayCallback.get_m_collisionObject()\n );\n var body = {};\n */\n result.setHitData({\n x: rayCallback.get_m_hitNormalWorld().x(),\n y: rayCallback.get_m_hitNormalWorld().y(),\n z: rayCallback.get_m_hitNormalWorld().z()\n }, {\n x: rayCallback.get_m_hitPointWorld().x(),\n y: rayCallback.get_m_hitPointWorld().y(),\n z: rayCallback.get_m_hitPointWorld().z()\n });\n result.calculateHitDistance();\n }\n this.bjsAMMO.destroy(rayCallback);\n this.bjsAMMO.destroy(this._tmpAmmoVectorRCA);\n this.bjsAMMO.destroy(this._tmpAmmoVectorRCB);\n }\n}\nAmmoJSPlugin._DISABLE_COLLISION_FLAG = 4;\nAmmoJSPlugin._KINEMATIC_FLAG = 2;\nAmmoJSPlugin._DISABLE_DEACTIVATION_FLAG = 4;","map":{"version":3,"names":["Quaternion","Vector3","Matrix","Logger","PhysicsImpostor","PhysicsJoint","VertexBuffer","VertexData","ExtrudeShape","CreateLines","PhysicsRaycastResult","WithinEpsilon","Epsilon","AmmoJSPlugin","constructor","_useDeltaForWorldStep","ammoInjection","Ammo","overlappingPairCache","bjsAMMO","name","_timeStep","_fixedTimeStep","_maxSteps","_tmpQuaternion","_tmpContactCallbackResult","_tmpContactPoint","_tmpContactNormal","_tmpVec3","_tmpMatrix","Error","isSupported","_collisionConfiguration","btSoftBodyRigidBodyCollisionConfiguration","_dispatcher","btCollisionDispatcher","_overlappingPairCache","btDbvtBroadphase","_solver","btSequentialImpulseConstraintSolver","_softBodySolver","btDefaultSoftBodySolver","world","btSoftRigidDynamicsWorld","_tmpAmmoConcreteContactResultCallback","ConcreteContactResultCallback","addSingleResult","contactPoint","wrapPointer","btManifoldPoint","worldPoint","getPositionWorldOnA","worldNormal","m_normalWorldOnB","x","y","z","_tmpContactImpulse","getAppliedImpulse","_tmpContactDistance","getDistance","_raycastResult","_tmpAmmoTransform","btTransform","setIdentity","_tmpAmmoQuaternion","btQuaternion","_tmpAmmoVectorA","btVector3","_tmpAmmoVectorB","_tmpAmmoVectorC","_tmpAmmoVectorD","getPluginVersion","setGravity","gravity","setValue","getWorldInfo","set_m_gravity","setTimeStep","timeStep","setFixedTimeStep","fixedTimeStep","setMaxSteps","maxSteps","getTimeStep","_isImpostorInContact","impostor","contactTest","physicsBody","_isImpostorPairInContact","impostorA","impostorB","contactPairTest","_stepSimulation","stepSimulation","executeStep","delta","impostors","soft","beforeStep","mainImpostor","_afterSoftStep","afterStep","_onPhysicsCollideCallbacks","length","collideCallback","otherImpostor","otherImpostors","isActive","onCollide","body","point","distance","impulse","normal","type","RopeImpostor","_ropeStep","_softbodyOrClothStep","bodyVertices","get_m_nodes","nbVertices","size","node","nodePositions","path","Array","n","at","get_m_x","push","object","shape","getParam","_isFromLine","points","instance","normalDirection","ClothImpostor","vertexPositions","getVerticesData","PositionKind","vertexNormals","NormalKind","nx","ny","nz","nodeNormals","get_m_n","vertex_data","positions","normals","uvs","UVKind","colors","ColorKind","getIndices","indices","applyToMesh","applyImpulse","force","activate","getWorldMatrix","subtractInPlace","getTranslation","Warn","applyForce","localTranslation","generatePhysicsBody","_pluginData","toDispose","parent","removePhysicsBody","forceUpdate","isBodyInitRequired","colShape","_createShape","mass","get_m_cfg","set_collisions","set_kDP","castObject","btCollisionObject","getCollisionShape","setMargin","setActivationState","_DISABLE_DEACTIVATION_FLAG","addSoftBody","setBodyPressure","SoftbodyImpostor","setBodyStiffness","setBodyVelocityIterations","setBodyPositionIterations","localInertia","startTransform","computeWorldMatrix","calculateLocalInertia","position","rotationQuaternion","w","setOrigin","setRotation","myMotionState","btDefaultMotionState","rbInfo","btRigidBodyConstructionInfo","btRigidBody","setCollisionFlags","getCollisionFlags","_KINEMATIC_FLAG","NoImpostor","getChildShape","_DISABLE_COLLISION_FLAG","MeshImpostor","boundingInfo","getBoundingInfo","copyFrom","getAbsolutePosition","boundingBox","centerWorld","scaling","setDeltaPosition","group","mask","addRigidBody","concat","setBodyRestitution","setBodyFriction","removeSoftBody","removeRigidBody","forEach","d","destroy","generateJoint","impostorJoint","mainBody","connectedBody","connectedImpostor","joint","physicsJoint","jointData","mainPivot","connectedPivot","DistanceJoint","maxDistance","btPoint2PointConstraint","HingeJoint","mainAxis","connectedAxis","btHingeConstraint","BallAndSocketJoint","addConstraint","collision","removeJoint","removeConstraint","_addMeshVerts","btTriangleMesh","topLevelObject","triangleCount","getChildMeshes","localMatrix","topLevelQuaternion","rotation","FromEulerAngles","Identity","topLevelMatrix","Compose","One","invertToRef","wm","multiply","ScalingToRef","faceCount","i","triPoints","v","TransformCoordinates","vec","addTriangle","m","_softVertexData","newPoints","newNorms","TransformNormal","Zero","ExtractFromMesh","_createSoftbody","btCompoundShape","triNorms","softBody","btSoftBodyHelpers","CreateFromTriMesh","setX","setY","setZ","_createCloth","len","segments","Math","sqrt","segs","clothBody","CreatePatch","_createRope","vertexSquared","map","reducer","accumulator","currentValue","reduced","reduce","pathVectors","fixedPoints","ropeBody","CreateRope","_createCustom","returnValue","onCreateCustomShape","_addHullVerts","btConvexHullShape","addPoint","ignoreChildren","impostorExtents","getObjectExtents","meshChildren","childrenAdded","childMesh","childImpostor","getPhysicsImpostor","parentMat","clone","s","decompose","getOrigin","addChildShape","dispose","SphereImpostor","btSphereShape","radii","btMultiSphereShape","setLocalScaling","Capsu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{ Quaternion, Vector3, Matrix } from \"../../../Maths/math.vector.js\";\nimport { Logger } from \"../../../Misc/logger.js\";\nimport { PhysicsImpostor } from \"../physicsImpostor.js\";\nimport { PhysicsJoint } from \"../physicsJoint.js\";\nimport { VertexBuffer } from \"../../../Buffers/buffer.js\";\nimport { VertexData } from \"../../../Meshes/mesh.vertexData.js\";\nimport { ExtrudeShape } from \"../../../Meshes/Builders/shapeBuilder.js\";\nimport { CreateLines } from \"../../../Meshes/Builders/linesBuilder.js\";\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult.js\";\nimport { WithinEpsilon } from \"../../../Maths/math.scalar.functions.js\";\nimport { Epsilon } from \"../../../Maths/math.constants.js\";\n/**\n * AmmoJS Physics plugin\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\n * @see https://github.com/kripken/ammo.js/\n */\nexport class AmmoJSPlugin {\n /**\n * Initializes the ammoJS plugin\n * @param _useDeltaForWorldStep if the time between frames should be used when calculating physics steps (Default: true)\n * @param ammoInjection can be used to inject your own ammo reference\n * @param overlappingPairCache can be used to specify your own overlapping pair cache\n */\n constructor(_useDeltaForWorldStep = true, ammoInjection = Ammo, overlappingPairCache = null) {\n this._useDeltaForWorldStep = _useDeltaForWorldStep;\n /**\n * Reference to the Ammo library\n */\n this.bjsAMMO = {};\n /**\n * Name of the plugin\n */\n this.name = \"AmmoJSPlugin\";\n this._timeStep = 1 / 60;\n this._fixedTimeStep = 1 / 60;\n this._maxSteps = 5;\n this._tmpQuaternion = new Quaternion();\n this._tmpContactCallbackResult = false;\n this._tmpContactPoint = new Vector3();\n this._tmpContactNormal = new Vector3();\n this._tmpVec3 = new Vector3();\n this._tmpMatrix = new Matrix();\n if (typeof ammoInjection === \"function\") {\n Logger.Error(\"AmmoJS is not ready. Please make sure you await Ammo() before using the plugin.\");\n return;\n }\n else {\n this.bjsAMMO = ammoInjection;\n }\n if (!this.isSupported()) {\n Logger.Error(\"AmmoJS is not available. Please make sure you included the js file.\");\n return;\n }\n // Initialize the physics world\n this._collisionConfiguration = new this.bjsAMMO.btSoftBodyRigidBodyCollisionConfiguration();\n this._dispatcher = new this.bjsAMMO.btCollisionDispatcher(this._collisionConfiguration);\n this._overlappingPairCache = overlappingPairCache || new this.bjsAMMO.btDbvtBroadphase();\n this._solver = new this.bjsAMMO.btSequentialImpulseConstraintSolver();\n this._softBodySolver = new this.bjsAMMO.btDefaultSoftBodySolver();\n this.world = new this.bjsAMMO.btSoftRigidDynamicsWorld(this._dispatcher, this._overlappingPairCache, this._solver, this._collisionConfiguration, this._softBodySolver);\n this._tmpAmmoConcreteContactResultCallback = new this.bjsAMMO.ConcreteContactResultCallback();\n this._tmpAmmoConcreteContactResultCallback.addSingleResult = (contactPoint) => {\n contactPoint = this.bjsAMMO.wrapPointer(contactPoint, this.bjsAMMO.btManifoldPoint);\n const worldPoint = contactPoint.getPositionWorldOnA();\n const worldNormal = contactPoint.m_normalWorldOnB;\n this._tmpContactPoint.x = worldPoint.x();\n this._tmpContactPoint.y = worldPoint.y();\n this._tmpContactPoint.z = worldPoint.z();\n this._tmpContactNormal.x = worldNormal.x();\n this._tmpContactNormal.y = worldNormal.y();\n this._tmpContactNormal.z = worldNormal.z();\n this._tmpContactImpulse = contactPoint.getAppliedImpulse();\n this._tmpContactDistance = contactPoint.getDistance();\n this._tmpContactCallbackResult = true;\n };\n this._raycastResult = new PhysicsRaycastResult();\n // Create temp ammo variables\n this._tmpAmmoTransform = new this.bjsAMMO.btTransform();\n this._tmpAmmoTransform.setIdentity();\n this._tmpAmmoQuaternion = new this.bjsAMMO.btQuaternion(0, 0, 0, 1);\n this._tmpAmmoVectorA = new this.bjsAMMO.btVector3(0, 0, 0);\n this._tmpAmmoVectorB = new this.bjsAMMO.btVector3(0, 0, 0);\n this._tmpAmmoVectorC = new this.bjsAMMO.btVector3(0, 0, 0);\n this._tmpAmmoVectorD = new this.bjsAMMO.btVector3(0, 0, 0);\n }\n /**\n *\n * @returns plugin version\n */\n getPluginVersion() {\n return 1;\n }\n /**\n * Sets the gravity of the physics world (m/(s^2))\n * @param gravity Gravity to set\n */\n setGravity(gravity) {\n this._tmpAmmoVectorA.setValue(gravity.x, gravity.y, gravity.z);\n this.world.setGravity(this._tmpAmmoVectorA);\n this.world.getWorldInfo().set_m_gravity(this._tmpAmmoVectorA);\n }\n /**\n * Amount of time to step forward on each frame (only used if useDeltaForWorldStep is false in the constructor)\n * @param timeStep timestep to use in seconds\n */\n setTimeStep(timeStep) {\n this._timeStep = timeStep;\n }\n /**\n * Increment to step forward in the physics engine (If timeStep is set to 1/60 and fixedTimeStep is set to 1/120 the physics engine should run 2 steps per frame) (Default: 1/60)\n * @param fixedTimeStep fixedTimeStep to use in seconds\n */\n setFixedTimeStep(fixedTimeStep) {\n this._fixedTimeStep = fixedTimeStep;\n }\n /**\n * Sets the maximum number of steps by the physics engine per frame (Default: 5)\n * @param maxSteps the maximum number of steps by the physics engine per frame\n */\n setMaxSteps(maxSteps) {\n this._maxSteps = maxSteps;\n }\n /**\n * Gets the current timestep (only used if useDeltaForWorldStep is false in the constructor)\n * @returns the current timestep in seconds\n */\n getTimeStep() {\n return this._timeStep;\n }\n // Ammo's contactTest and contactPairTest take a callback that runs synchronously, wrap them so that they are easier to consume\n _isImpostorInContact(impostor) {\n this._tmpContactCallbackResult = false;\n this.world.contactTest(impostor.physicsBody, this._tmpAmmoConcreteContactResultCallback);\n return this._tmpContactCallbackResult;\n }\n // Ammo's collision events have some weird quirks\n // contactPairTest fires too many events as it fires events even when objects are close together but contactTest does not\n // so only fire event if both contactTest and contactPairTest have a hit\n _isImpostorPairInContact(impostorA, impostorB) {\n this._tmpContactCallbackResult = false;\n this.world.contactPairTest(impostorA.physicsBody, impostorB.physicsBody, this._tmpAmmoConcreteContactResultCallback);\n return this._tmpContactCallbackResult;\n }\n // Ammo's behavior when maxSteps > 0 does not behave as described in docs\n // @see http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Stepping_The_World\n //\n // When maxSteps is 0 do the entire simulation in one step\n // When maxSteps is > 0, run up to maxStep times, if on the last step the (remaining step - fixedTimeStep) is < fixedTimeStep, the remainder will be used for the step. (eg. if remainder is 1.001 and fixedTimeStep is 1 the last step will be 1.001, if instead it did 2 steps (1, 0.001) issues occuered when having a tiny step in ammo)\n // Note: To get deterministic physics, timeStep would always need to be divisible by fixedTimeStep\n _stepSimulation(timeStep = 1 / 60, maxSteps = 10, fixedTimeStep = 1 / 60) {\n if (maxSteps == 0) {\n this.world.stepSimulation(timeStep, 0);\n }\n else {\n while (maxSteps > 0 && timeStep > 0) {\n if (timeStep - fixedTimeStep < fixedTimeStep) {\n this.world.stepSimulation(timeStep, 0);\n timeStep = 0;\n }\n else {\n timeStep -= fixedTimeStep;\n this.world.stepSimulation(fixedTimeStep, 0);\n }\n maxSteps--;\n }\n }\n }\n /**\n * Moves the physics simulation forward delta seconds and updates the given physics imposters\n * Prior to the step the imposters physics location is set to the position of the babylon meshes\n * After the step the babylon meshes are set to the position of the physics imposters\n * @param delta amount of time to step forward\n * @param impostors array of imposters to update before/after the step\n */\n executeStep(delta, impostors) {\n for (const impostor of impostors) {\n // Update physics world objects to match babylon world\n if (!impostor.soft) {\n impostor.beforeStep();\n }\n }\n this._stepSimulation(this._useDeltaForWorldStep ? delta : this._timeStep, this._maxSteps, this._fixedTimeStep);\n for (const mainImpostor of impostors) {\n // After physics update make babylon world objects match physics world objects\n if (mainImpostor.soft) {\n this._afterSoftStep(mainImpostor);\n }\n else {\n mainImpostor.afterStep();\n }\n // Handle collision event\n if (mainImpostor._onPhysicsCollideCallbacks.length > 0) {\n if (this._isImpostorInContact(mainImpostor)) {\n for (const collideCallback of mainImpostor._onPhysicsCollideCallbacks) {\n for (const otherImpostor of collideCallback.otherImpostors) {\n if (mainImpostor.physicsBody.isActive() || otherImpostor.physicsBody.isActive()) {\n if (this._isImpostorPairInContact(mainImpostor, otherImpostor)) {\n mainImpostor.onCollide({\n body: otherImpostor.physicsBody,\n point: this._tmpContactPoint,\n distance: this._tmpContactDistance,\n impulse: this._tmpContactImpulse,\n normal: this._tmpContactNormal,\n });\n otherImpostor.onCollide({\n body: mainImpostor.physicsBody,\n point: this._tmpContactPoint,\n distance: this._tmpContactDistance,\n impulse: this._tmpContactImpulse,\n normal: this._tmpContactNormal,\n });\n }\n }\n }\n }\n }\n }\n }\n }\n /**\n * Update babylon mesh to match physics world object\n * @param impostor imposter to match\n */\n _afterSoftStep(impostor) {\n if (impostor.type === PhysicsImpostor.RopeImpostor) {\n this._ropeStep(impostor);\n }\n else {\n this._softbodyOrClothStep(impostor);\n }\n }\n /**\n * Update babylon mesh vertices vertices to match physics world softbody or cloth\n * @param impostor imposter to match\n */\n _ropeStep(impostor) {\n const bodyVertices = impostor.physicsBody.get_m_nodes();\n const nbVertices = bodyVertices.size();\n let node;\n let nodePositions;\n let x, y, z;\n const path = new Array();\n for (let n = 0; n < nbVertices; n++) {\n node = bodyVertices.at(n);\n nodePositions = node.get_m_x();\n x = nodePositions.x();\n y = nodePositions.y();\n z = nodePositions.z();\n path.push(new Vector3(x, y, z));\n }\n const object = impostor.object;\n const shape = impostor.getParam(\"shape\");\n if (impostor._isFromLine) {\n impostor.object = CreateLines(\"lines\", { points: path, instance: object });\n }\n else {\n impostor.object = ExtrudeShape(\"ext\", { shape: shape, path: path, instance: object });\n }\n }\n /**\n * Update babylon mesh vertices vertices to match physics world softbody or cloth\n * @param impostor imposter to match\n */\n _softbodyOrClothStep(impostor) {\n const normalDirection = impostor.type === PhysicsImpostor.ClothImpostor ? 1 : -1;\n const object = impostor.object;\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n let vertexNormals = object.getVerticesData(VertexBuffer.NormalKind);\n if (!vertexNormals) {\n vertexNormals = [];\n }\n const nbVertices = vertexPositions.length / 3;\n const bodyVertices = impostor.physicsBody.get_m_nodes();\n let node;\n let nodePositions;\n let x, y, z;\n let nx, ny, nz;\n for (let n = 0; n < nbVertices; n++) {\n node = bodyVertices.at(n);\n nodePositions = node.get_m_x();\n x = nodePositions.x();\n y = nodePositions.y();\n z = nodePositions.z() * normalDirection;\n const nodeNormals = node.get_m_n();\n nx = nodeNormals.x();\n ny = nodeNormals.y();\n nz = nodeNormals.z() * normalDirection;\n vertexPositions[3 * n] = x;\n vertexPositions[3 * n + 1] = y;\n vertexPositions[3 * n + 2] = z;\n vertexNormals[3 * n] = nx;\n vertexNormals[3 * n + 1] = ny;\n vertexNormals[3 * n + 2] = nz;\n }\n const vertex_data = new VertexData();\n vertex_data.positions = vertexPositions;\n vertex_data.normals = vertexNormals;\n vertex_data.uvs = object.getVerticesData(VertexBuffer.UVKind);\n vertex_data.colors = object.getVerticesData(VertexBuffer.ColorKind);\n if (object && object.getIndices) {\n vertex_data.indices = object.getIndices();\n }\n vertex_data.applyToMesh(object);\n }\n /**\n * Applies an impulse on the imposter\n * @param impostor imposter to apply impulse to\n * @param force amount of force to be applied to the imposter\n * @param contactPoint the location to apply the impulse on the imposter\n */\n applyImpulse(impostor, force, contactPoint) {\n if (!impostor.soft) {\n impostor.physicsBody.activate();\n const worldPoint = this._tmpAmmoVectorA;\n const impulse = this._tmpAmmoVectorB;\n // Convert contactPoint relative to center of mass\n if (impostor.object && impostor.object.getWorldMatrix) {\n contactPoint.subtractInPlace(impostor.object.getWorldMatrix().getTranslation());\n }\n worldPoint.setValue(contactPoint.x, contactPoint.y, contactPoint.z);\n impulse.setValue(force.x, force.y, force.z);\n impostor.physicsBody.applyImpulse(impulse, worldPoint);\n }\n else {\n Logger.Warn(\"Cannot be applied to a soft body\");\n }\n }\n /**\n * Applies a force on the imposter\n * @param impostor imposter to apply force\n * @param force amount of force to be applied to the imposter\n * @param contactPoint the location to apply the force on the imposter\n */\n applyForce(impostor, force, contactPoint) {\n if (!impostor.soft) {\n impostor.physicsBody.activate();\n const worldPoint = this._tmpAmmoVectorA;\n const impulse = this._tmpAmmoVectorB;\n // Convert contactPoint relative to center of mass\n if (impostor.object && impostor.object.getWorldMatrix) {\n const localTranslation = impostor.object.getWorldMatrix().getTranslation();\n worldPoint.setValue(contactPoint.x - localTranslation.x, contactPoint.y - localTranslation.y, contactPoint.z - localTranslation.z);\n }\n else {\n worldPoint.setValue(contactPoint.x, contactPoint.y, contactPoint.z);\n }\n impulse.setValue(force.x, force.y, force.z);\n impostor.physicsBody.applyForce(impulse, worldPoint);\n }\n else {\n Logger.Warn(\"Cannot be applied to a soft body\");\n }\n }\n /**\n * Creates a physics body using the plugin\n * @param impostor the imposter to create the physics body on\n */\n generatePhysicsBody(impostor) {\n // Note: this method will not be called on child imposotrs for compound impostors\n impostor._pluginData.toDispose = [];\n //parent-child relationship\n if (impostor.parent) {\n if (impostor.physicsBody) {\n this.removePhysicsBody(impostor);\n impostor.forceUpdate();\n }\n return;\n }\n if (impostor.isBodyInitRequired()) {\n const colShape = this._createShape(impostor);\n const mass = impostor.getParam(\"mass\");\n impostor._pluginData.mass = mass;\n if (impostor.soft) {\n colShape.get_m_cfg().set_collisions(0x11);\n colShape.get_m_cfg().set_kDP(impostor.getParam(\"damping\"));\n this.bjsAMMO.castObject(colShape, this.bjsAMMO.btCollisionObject).getCollisionShape().setMargin(impostor.getParam(\"margin\"));\n colShape.setActivationState(AmmoJSPlugin._DISABLE_DEACTIVATION_FLAG);\n this.world.addSoftBody(colShape, 1, -1);\n impostor.physicsBody = colShape;\n impostor._pluginData.toDispose.push(colShape);\n this.setBodyPressure(impostor, 0);\n if (impostor.type === PhysicsImpostor.SoftbodyImpostor) {\n this.setBodyPressure(impostor, impostor.getParam(\"pressure\"));\n }\n this.setBodyStiffness(impostor, impostor.getParam(\"stiffness\"));\n this.setBodyVelocityIterations(impostor, impostor.getParam(\"velocityIterations\"));\n this.setBodyPositionIterations(impostor, impostor.getParam(\"positionIterations\"));\n }\n else {\n const localInertia = new this.bjsAMMO.btVector3(0, 0, 0);\n const startTransform = new this.bjsAMMO.btTransform();\n impostor.object.computeWorldMatrix(true);\n startTransform.setIdentity();\n if (mass !== 0) {\n colShape.calculateLocalInertia(mass, localInertia);\n }\n this._tmpAmmoVectorA.setValue(impostor.object.position.x, impostor.object.position.y, impostor.object.position.z);\n this._tmpAmmoQuaternion.setValue(impostor.object.rotationQuaternion.x, impostor.object.rotationQuaternion.y, impostor.object.rotationQuaternion.z, impostor.object.rotationQuaternion.w);\n startTransform.setOrigin(this._tmpAmmoVectorA);\n startTransform.setRotation(this._tmpAmmoQuaternion);\n const myMotionState = new this.bjsAMMO.btDefaultMotionState(startTransform);\n const rbInfo = new this.bjsAMMO.btRigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);\n const body = new this.bjsAMMO.btRigidBody(rbInfo);\n // Make objects kinematic if it's mass is 0\n if (mass === 0) {\n body.setCollisionFlags(body.getCollisionFlags() | AmmoJSPlugin._KINEMATIC_FLAG);\n body.setActivationState(AmmoJSPlugin._DISABLE_DEACTIVATION_FLAG);\n }\n // Disable collision if NoImpostor, but keep collision if shape is btCompoundShape\n if (impostor.type == PhysicsImpostor.NoImpostor && !colShape.getChildShape) {\n body.setCollisionFlags(body.getCollisionFlags() | AmmoJSPlugin._DISABLE_COLLISION_FLAG);\n }\n // compute delta position: compensate the difference between shape center and mesh origin\n if (impostor.type !== PhysicsImpostor.MeshImpostor && impostor.type !== PhysicsImpostor.NoImpostor) {\n const boundingInfo = impostor.object.getBoundingInfo();\n this._tmpVec3.copyFrom(impostor.object.getAbsolutePosition());\n this._tmpVec3.subtractInPlace(boundingInfo.boundingBox.centerWorld);\n this._tmpVec3.x /= impostor.object.scaling.x;\n this._tmpVec3.y /= impostor.object.scaling.y;\n this._tmpVec3.z /= impostor.object.scaling.z;\n impostor.setDeltaPosition(this._tmpVec3);\n }\n const group = impostor.getParam(\"group\");\n const mask = impostor.getParam(\"mask\");\n if (group && mask) {\n this.world.addRigidBody(body, group, mask);\n }\n else {\n this.world.addRigidBody(body);\n }\n impostor.physicsBody = body;\n impostor._pluginData.toDispose = impostor._pluginData.toDispose.concat([body, rbInfo, myMotionState, startTransform, localInertia, colShape]);\n }\n this.setBodyRestitution(impostor, impostor.getParam(\"restitution\"));\n this.setBodyFriction(impostor, impostor.getParam(\"friction\"));\n }\n }\n /**\n * Removes the physics body from the imposter and disposes of the body's memory\n * @param impostor imposter to remove the physics body from\n */\n removePhysicsBody(impostor) {\n if (this.world) {\n if (impostor.soft) {\n this.world.removeSoftBody(impostor.physicsBody);\n }\n else {\n this.world.removeRigidBody(impostor.physicsBody);\n }\n if (impostor._pluginData) {\n impostor._pluginData.toDispose.forEach((d) => {\n this.bjsAMMO.destroy(d);\n });\n impostor._pluginData.toDispose = [];\n }\n }\n }\n /**\n * Generates a joint\n * @param impostorJoint the imposter joint to create the joint with\n */\n generateJoint(impostorJoint) {\n const mainBody = impostorJoint.mainImpostor.physicsBody;\n const connectedBody = impostorJoint.connectedImpostor.physicsBody;\n if (!mainBody || !connectedBody) {\n return;\n }\n // if the joint is already created, don't create it again for preventing memory leaks\n if (impostorJoint.joint.physicsJoint) {\n return;\n }\n const jointData = impostorJoint.joint.jointData;\n if (!jointData.mainPivot) {\n jointData.mainPivot = new Vector3(0, 0, 0);\n }\n if (!jointData.connectedPivot) {\n jointData.connectedPivot = new Vector3(0, 0, 0);\n }\n let joint;\n switch (impostorJoint.joint.type) {\n case PhysicsJoint.DistanceJoint: {\n const distance = jointData.maxDistance;\n if (distance) {\n jointData.mainPivot = new Vector3(0, -distance / 2, 0);\n jointData.connectedPivot = new Vector3(0, distance / 2, 0);\n }\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n joint = new this.bjsAMMO.btPoint2PointConstraint(mainBody, connectedBody, mainPivot, connectedPivot);\n break;\n }\n case PhysicsJoint.HingeJoint: {\n if (!jointData.mainAxis) {\n jointData.mainAxis = new Vector3(0, 0, 0);\n }\n if (!jointData.connectedAxis) {\n jointData.connectedAxis = new Vector3(0, 0, 0);\n }\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n const mainAxis = this._tmpAmmoVectorC;\n mainAxis.setValue(jointData.mainAxis.x, jointData.mainAxis.y, jointData.mainAxis.z);\n const connectedAxis = this._tmpAmmoVectorD;\n connectedAxis.setValue(jointData.connectedAxis.x, jointData.connectedAxis.y, jointData.connectedAxis.z);\n joint = new this.bjsAMMO.btHingeConstraint(mainBody, connectedBody, mainPivot, connectedPivot, mainAxis, connectedAxis);\n break;\n }\n case PhysicsJoint.BallAndSocketJoint: {\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n joint = new this.bjsAMMO.btPoint2PointConstraint(mainBody, connectedBody, mainPivot, connectedPivot);\n break;\n }\n default: {\n Logger.Warn(\"JointType not currently supported by the Ammo plugin, falling back to PhysicsJoint.BallAndSocketJoint\");\n const mainPivot = this._tmpAmmoVectorA;\n mainPivot.setValue(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z);\n const connectedPivot = this._tmpAmmoVectorB;\n connectedPivot.setValue(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z);\n joint = new this.bjsAMMO.btPoint2PointConstraint(mainBody, connectedBody, mainPivot, connectedPivot);\n break;\n }\n }\n this.world.addConstraint(joint, !impostorJoint.joint.jointData.collision);\n impostorJoint.joint.physicsJoint = joint;\n }\n /**\n * Removes a joint\n * @param impostorJoint the imposter joint to remove the joint from\n */\n removeJoint(impostorJoint) {\n if (this.world) {\n this.world.removeConstraint(impostorJoint.joint.physicsJoint);\n }\n this.bjsAMMO.destroy(impostorJoint.joint.physicsJoint);\n }\n // adds all verticies (including child verticies) to the triangle mesh\n _addMeshVerts(btTriangleMesh, topLevelObject, object) {\n let triangleCount = 0;\n if (object && object.getIndices && object.getWorldMatrix && object.getChildMeshes) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n let localMatrix;\n if (topLevelObject && topLevelObject !== object) {\n // top level matrix used for shape transform doesn't take scale into account.\n // Moreover, every children vertex position must be in that space.\n // So, each vertex position here is transform by (mesh world matrix * toplevelMatrix -1)\n let topLevelQuaternion;\n if (topLevelObject.rotationQuaternion) {\n topLevelQuaternion = topLevelObject.rotationQuaternion;\n }\n else if (topLevelObject.rotation) {\n topLevelQuaternion = Quaternion.FromEulerAngles(topLevelObject.rotation.x, topLevelObject.rotation.y, topLevelObject.rotation.z);\n }\n else {\n topLevelQuaternion = Quaternion.Identity();\n }\n const topLevelMatrix = Matrix.Compose(Vector3.One(), topLevelQuaternion, topLevelObject.position);\n topLevelMatrix.invertToRef(this._tmpMatrix);\n const wm = object.computeWorldMatrix(false);\n localMatrix = wm.multiply(this._tmpMatrix);\n }\n else {\n // current top level is same as object level -> only use local scaling\n Matrix.ScalingToRef(object.scaling.x, object.scaling.y, object.scaling.z, this._tmpMatrix);\n localMatrix = this._tmpMatrix;\n }\n const faceCount = indices.length / 3;\n for (let i = 0; i < faceCount; i++) {\n const triPoints = [];\n for (let point = 0; point < 3; point++) {\n let v = new Vector3(vertexPositions[indices[i * 3 + point] * 3 + 0], vertexPositions[indices[i * 3 + point] * 3 + 1], vertexPositions[indices[i * 3 + point] * 3 + 2]);\n v = Vector3.TransformCoordinates(v, localMatrix);\n let vec;\n if (point == 0) {\n vec = this._tmpAmmoVectorA;\n }\n else if (point == 1) {\n vec = this._tmpAmmoVectorB;\n }\n else {\n vec = this._tmpAmmoVectorC;\n }\n vec.setValue(v.x, v.y, v.z);\n triPoints.push(vec);\n }\n btTriangleMesh.addTriangle(triPoints[0], triPoints[1], triPoints[2]);\n triangleCount++;\n }\n object.getChildMeshes().forEach((m) => {\n triangleCount += this._addMeshVerts(btTriangleMesh, topLevelObject, m);\n });\n }\n return triangleCount;\n }\n /**\n * Initialise the soft body vertices to match its object's (mesh) vertices\n * Softbody vertices (nodes) are in world space and to match this\n * The object's position and rotation is set to zero and so its vertices are also then set in world space\n * @param impostor to create the softbody for\n * @returns the number of vertices added to the softbody\n */\n _softVertexData(impostor) {\n const object = impostor.object;\n if (object && object.getIndices && object.getWorldMatrix && object.getChildMeshes) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n let vertexNormals = object.getVerticesData(VertexBuffer.NormalKind);\n if (!vertexNormals) {\n vertexNormals = [];\n }\n object.computeWorldMatrix(false);\n const newPoints = [];\n const newNorms = [];\n for (let i = 0; i < vertexPositions.length; i += 3) {\n let v = new Vector3(vertexPositions[i], vertexPositions[i + 1], vertexPositions[i + 2]);\n let n = new Vector3(vertexNormals[i], vertexNormals[i + 1], vertexNormals[i + 2]);\n v = Vector3.TransformCoordinates(v, object.getWorldMatrix());\n n = Vector3.TransformNormal(n, object.getWorldMatrix());\n newPoints.push(v.x, v.y, v.z);\n newNorms.push(n.x, n.y, n.z);\n }\n const vertex_data = new VertexData();\n vertex_data.positions = newPoints;\n vertex_data.normals = newNorms;\n vertex_data.uvs = object.getVerticesData(VertexBuffer.UVKind);\n vertex_data.colors = object.getVerticesData(VertexBuffer.ColorKind);\n if (object && object.getIndices) {\n vertex_data.indices = object.getIndices();\n }\n vertex_data.applyToMesh(object);\n object.position = Vector3.Zero();\n object.rotationQuaternion = null;\n object.rotation = Vector3.Zero();\n object.computeWorldMatrix(true);\n return vertex_data;\n }\n return VertexData.ExtractFromMesh(object);\n }\n /**\n * Create an impostor's soft body\n * @param impostor to create the softbody for\n * @returns the softbody\n */\n _createSoftbody(impostor) {\n const object = impostor.object;\n if (object && object.getIndices) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n const vertex_data = this._softVertexData(impostor);\n const vertexPositions = vertex_data.positions;\n const vertexNormals = vertex_data.normals;\n if (vertexPositions === null || vertexNormals === null) {\n return new this.bjsAMMO.btCompoundShape();\n }\n else {\n const triPoints = [];\n const triNorms = [];\n for (let i = 0; i < vertexPositions.length; i += 3) {\n const v = new Vector3(vertexPositions[i], vertexPositions[i + 1], vertexPositions[i + 2]);\n const n = new Vector3(vertexNormals[i], vertexNormals[i + 1], vertexNormals[i + 2]);\n triPoints.push(v.x, v.y, -v.z);\n triNorms.push(n.x, n.y, -n.z);\n }\n const softBody = new this.bjsAMMO.btSoftBodyHelpers().CreateFromTriMesh(this.world.getWorldInfo(), triPoints, object.getIndices(), indices.length / 3, true);\n const nbVertices = vertexPositions.length / 3;\n const bodyVertices = softBody.get_m_nodes();\n let node;\n let nodeNormals;\n for (let i = 0; i < nbVertices; i++) {\n node = bodyVertices.at(i);\n nodeNormals = node.get_m_n();\n nodeNormals.setX(triNorms[3 * i]);\n nodeNormals.setY(triNorms[3 * i + 1]);\n nodeNormals.setZ(triNorms[3 * i + 2]);\n }\n return softBody;\n }\n }\n }\n /**\n * Create cloth for an impostor\n * @param impostor to create the softbody for\n * @returns the cloth\n */\n _createCloth(impostor) {\n const object = impostor.object;\n if (object && object.getIndices) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n const vertex_data = this._softVertexData(impostor);\n const vertexPositions = vertex_data.positions;\n const vertexNormals = vertex_data.normals;\n if (vertexPositions === null || vertexNormals === null) {\n return new this.bjsAMMO.btCompoundShape();\n }\n else {\n const len = vertexPositions.length;\n const segments = Math.sqrt(len / 3);\n impostor.segments = segments;\n const segs = segments - 1;\n this._tmpAmmoVectorA.setValue(vertexPositions[0], vertexPositions[1], vertexPositions[2]);\n this._tmpAmmoVectorB.setValue(vertexPositions[3 * segs], vertexPositions[3 * segs + 1], vertexPositions[3 * segs + 2]);\n this._tmpAmmoVectorD.setValue(vertexPositions[len - 3], vertexPositions[len - 2], vertexPositions[len - 1]);\n this._tmpAmmoVectorC.setValue(vertexPositions[len - 3 - 3 * segs], vertexPositions[len - 2 - 3 * segs], vertexPositions[len - 1 - 3 * segs]);\n const clothBody = new this.bjsAMMO.btSoftBodyHelpers().CreatePatch(this.world.getWorldInfo(), this._tmpAmmoVectorA, this._tmpAmmoVectorB, this._tmpAmmoVectorC, this._tmpAmmoVectorD, segments, segments, impostor.getParam(\"fixedPoints\"), true);\n return clothBody;\n }\n }\n }\n /**\n * Create rope for an impostor\n * @param impostor to create the softbody for\n * @returns the rope\n */\n _createRope(impostor) {\n let len;\n let segments;\n const vertex_data = this._softVertexData(impostor);\n const vertexPositions = vertex_data.positions;\n const vertexNormals = vertex_data.normals;\n if (vertexPositions === null || vertexNormals === null) {\n return new this.bjsAMMO.btCompoundShape();\n }\n //force the mesh to be updatable\n vertex_data.applyToMesh(impostor.object, true);\n impostor._isFromLine = true;\n // If in lines mesh all normals will be zero\n const vertexSquared = vertexNormals.map((x) => x * x);\n const reducer = (accumulator, currentValue) => accumulator + currentValue;\n const reduced = vertexSquared.reduce(reducer);\n if (reduced === 0) {\n // line mesh\n len = vertexPositions.length;\n segments = len / 3 - 1;\n this._tmpAmmoVectorA.setValue(vertexPositions[0], vertexPositions[1], vertexPositions[2]);\n this._tmpAmmoVectorB.setValue(vertexPositions[len - 3], vertexPositions[len - 2], vertexPositions[len - 1]);\n }\n else {\n //extruded mesh\n impostor._isFromLine = false;\n const pathVectors = impostor.getParam(\"path\");\n const shape = impostor.getParam(\"shape\");\n if (shape === null) {\n Logger.Warn(\"No shape available for extruded mesh\");\n return new this.bjsAMMO.btCompoundShape();\n }\n len = pathVectors.length;\n segments = len - 1;\n this._tmpAmmoVectorA.setValue(pathVectors[0].x, pathVectors[0].y, pathVectors[0].z);\n this._tmpAmmoVectorB.setValue(pathVectors[len - 1].x, pathVectors[len - 1].y, pathVectors[len - 1].z);\n }\n impostor.segments = segments;\n let fixedPoints = impostor.getParam(\"fixedPoints\");\n fixedPoints = fixedPoints > 3 ? 3 : fixedPoints;\n const ropeBody = new this.bjsAMMO.btSoftBodyHelpers().CreateRope(this.world.getWorldInfo(), this._tmpAmmoVectorA, this._tmpAmmoVectorB, segments - 1, fixedPoints);\n ropeBody.get_m_cfg().set_collisions(0x11);\n return ropeBody;\n }\n /**\n * Create a custom physics impostor shape using the plugin's onCreateCustomShape handler\n * @param impostor to create the custom physics shape for\n * @returns the custom physics shape\n */\n _createCustom(impostor) {\n let returnValue = null;\n if (this.onCreateCustomShape) {\n returnValue = this.onCreateCustomShape(impostor);\n }\n if (returnValue == null) {\n returnValue = new this.bjsAMMO.btCompoundShape();\n }\n return returnValue;\n }\n // adds all verticies (including child verticies) to the convex hull shape\n _addHullVerts(btConvexHullShape, topLevelObject, object) {\n let triangleCount = 0;\n if (object && object.getIndices && object.getWorldMatrix && object.getChildMeshes) {\n let indices = object.getIndices();\n if (!indices) {\n indices = [];\n }\n let vertexPositions = object.getVerticesData(VertexBuffer.PositionKind);\n if (!vertexPositions) {\n vertexPositions = [];\n }\n object.computeWorldMatrix(false);\n const faceCount = indices.length / 3;\n for (let i = 0; i < faceCount; i++) {\n const triPoints = [];\n for (let point = 0; point < 3; point++) {\n let v = new Vector3(vertexPositions[indices[i * 3 + point] * 3 + 0], vertexPositions[indices[i * 3 + point] * 3 + 1], vertexPositions[indices[i * 3 + point] * 3 + 2]);\n // Adjust for initial scaling\n Matrix.ScalingToRef(object.scaling.x, object.scaling.y, object.scaling.z, this._tmpMatrix);\n v = Vector3.TransformCoordinates(v, this._tmpMatrix);\n let vec;\n if (point == 0) {\n vec = this._tmpAmmoVectorA;\n }\n else if (point == 1) {\n vec = this._tmpAmmoVectorB;\n }\n else {\n vec = this._tmpAmmoVectorC;\n }\n vec.setValue(v.x, v.y, v.z);\n triPoints.push(vec);\n }\n btConvexHullShape.addPoint(triPoints[0], true);\n btConvexHullShape.addPoint(triPoints[1], true);\n btConvexHullShape.addPoint(triPoints[2], true);\n triangleCount++;\n }\n object.getChildMeshes().forEach((m) => {\n triangleCount += this._addHullVerts(btConvexHullShape, topLevelObject, m);\n });\n }\n return triangleCount;\n }\n _createShape(impostor, ignoreChildren = false) {\n const object = impostor.object;\n let returnValue;\n const impostorExtents = impostor.getObjectExtents();\n if (!ignoreChildren) {\n const meshChildren = impostor.object.getChildMeshes ? impostor.object.getChildMeshes(true) : [];\n returnValue = new this.bjsAMMO.btCompoundShape();\n // Add shape of all children to the compound shape\n let childrenAdded = 0;\n meshChildren.forEach((childMesh) => {\n const childImpostor = childMesh.getPhysicsImpostor();\n if (childImpostor) {\n if (childImpostor.type == PhysicsImpostor.MeshImpostor) {\n // eslint-disable-next-line no-throw-literal\n throw \"A child MeshImpostor is not supported. Only primitive impostors are supported as children (eg. box or sphere)\";\n }\n const shape = this._createShape(childImpostor);\n // Position needs to be scaled based on parent's scaling\n const parentMat = childMesh.parent.getWorldMatrix().clone();\n const s = new Vector3();\n parentMat.decompose(s);\n this._tmpAmmoTransform.getOrigin().setValue(childMesh.position.x * s.x, childMesh.position.y * s.y, childMesh.position.z * s.z);\n this._tmpAmmoQuaternion.setValue(childMesh.rotationQuaternion.x, childMesh.rotationQuaternion.y, childMesh.rotationQuaternion.z, childMesh.rotationQuaternion.w);\n this._tmpAmmoTransform.setRotation(this._tmpAmmoQuaternion);\n returnValue.addChildShape(this._tmpAmmoTransform, shape);\n childImpostor.dispose();\n childrenAdded++;\n }\n });\n if (childrenAdded > 0) {\n // Add parents shape as a child if present\n if (impostor.type != PhysicsImpostor.NoImpostor) {\n const shape = this._createShape(impostor, true);\n if (shape) {\n this._tmpAmmoTransform.getOrigin().setValue(0, 0, 0);\n this._tmpAmmoQuaternion.setValue(0, 0, 0, 1);\n this._tmpAmmoTransform.setRotation(this._tmpAmmoQuaternion);\n returnValue.addChildShape(this._tmpAmmoTransform, shape);\n }\n }\n return returnValue;\n }\n else {\n // If no children with impostors create the actual shape below instead\n this.bjsAMMO.destroy(returnValue);\n returnValue = null;\n }\n }\n switch (impostor.type) {\n case PhysicsImpostor.SphereImpostor:\n // Is there a better way to compare floats number? With an epsilon or with a Math function\n if (WithinEpsilon(impostorExtents.x, impostorExtents.y, 0.0001) && WithinEpsilon(impostorExtents.x, impostorExtents.z, 0.0001)) {\n returnValue = new this.bjsAMMO.btSphereShape(impostorExtents.x / 2);\n }\n else {\n // create a btMultiSphereShape because it's not possible to set a local scaling on a btSphereShape\n this._tmpAmmoVectorA.setValue(0, 0, 0);\n const positions = [this._tmpAmmoVectorA];\n const radii = [1];\n returnValue = new this.bjsAMMO.btMultiSphereShape(positions, radii, 1);\n this._tmpAmmoVectorA.setValue(impostorExtents.x / 2, impostorExtents.y / 2, impostorExtents.z / 2);\n returnValue.setLocalScaling(this._tmpAmmoVectorA);\n }\n break;\n case PhysicsImpostor.CapsuleImpostor:\n {\n // https://pybullet.org/Bullet/BulletFull/classbtCapsuleShape.html#details\n // Height is just the height between the center of each 'sphere' of the capsule caps\n const capRadius = impostorExtents.x / 2;\n returnValue = new this.bjsAMMO.btCapsuleShape(capRadius, impostorExtents.y - capRadius * 2);\n }\n break;\n case PhysicsImpostor.CylinderImpostor:\n this._tmpAmmoVectorA.setValue(impostorExtents.x / 2, impostorExtents.y / 2, impostorExtents.z / 2);\n returnValue = new this.bjsAMMO.btCylinderShape(this._tmpAmmoVectorA);\n break;\n case PhysicsImpostor.PlaneImpostor:\n case PhysicsImpostor.BoxImpostor:\n this._tmpAmmoVectorA.setValue(impostorExtents.x / 2, impostorExtents.y / 2, impostorExtents.z / 2);\n returnValue = new this.bjsAMMO.btBoxShape(this._tmpAmmoVectorA);\n break;\n case PhysicsImpostor.MeshImpostor: {\n if (impostor.getParam(\"mass\") == 0) {\n // Only create btBvhTriangleMeshShape if the impostor is static\n // See https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=7283\n if (this.onCreateCustomMeshImpostor) {\n returnValue = this.onCreateCustomMeshImpostor(impostor);\n }\n else {\n const triMesh = new this.bjsAMMO.btTriangleMesh();\n impostor._pluginData.toDispose.push(triMesh);\n const triangleCount = this._addMeshVerts(triMesh, object, object);\n if (triangleCount == 0) {\n returnValue = new this.bjsAMMO.btCompoundShape();\n }\n else {\n returnValue = new this.bjsAMMO.btBvhTriangleMeshShape(triMesh);\n }\n }\n break;\n }\n }\n // Otherwise create convexHullImpostor\n // eslint-disable-next-line no-fallthrough\n case PhysicsImpostor.ConvexHullImpostor: {\n if (this.onCreateCustomConvexHullImpostor) {\n returnValue = this.onCreateCustomConvexHullImpostor(impostor);\n }\n else {\n const convexHull = new this.bjsAMMO.btConvexHullShape();\n const triangleCount = this._addHullVerts(convexHull, object, object);\n if (triangleCount == 0) {\n // Cleanup Unused Convex Hull Shape\n impostor._pluginData.toDispose.push(convexHull);\n returnValue = new this.bjsAMMO.btCompoundShape();\n }\n else {\n returnValue = convexHull;\n }\n }\n break;\n }\n case PhysicsImpostor.NoImpostor:\n // Fill with sphere but collision is disabled on the rigid body in generatePhysicsBody, using an empty shape caused unexpected movement with joints\n returnValue = new this.bjsAMMO.btSphereShape(impostorExtents.x / 2);\n break;\n case PhysicsImpostor.CustomImpostor:\n // Only usable when the plugin's onCreateCustomShape is set\n returnValue = this._createCustom(impostor);\n break;\n case PhysicsImpostor.SoftbodyImpostor:\n // Only usable with a mesh that has sufficient and shared vertices\n returnValue = this._createSoftbody(impostor);\n break;\n case PhysicsImpostor.ClothImpostor:\n // Only usable with a ground mesh that has sufficient and shared vertices\n returnValue = this._createCloth(impostor);\n break;\n case PhysicsImpostor.RopeImpostor:\n // Only usable with a line mesh or an extruded mesh that is updatable\n returnValue = this._createRope(impostor);\n break;\n default:\n Logger.Warn(\"The impostor type is not currently supported by the ammo plugin.\");\n break;\n }\n return returnValue;\n }\n /**\n * Sets the mesh body position/rotation from the babylon impostor\n * @param impostor imposter containing the physics body and babylon object\n */\n setTransformationFromPhysicsBody(impostor) {\n impostor.physicsBody.getMotionState().getWorldTransform(this._tmpAmmoTransform);\n impostor.object.position.set(this._tmpAmmoTransform.getOrigin().x(), this._tmpAmmoTransform.getOrigin().y(), this._tmpAmmoTransform.getOrigin().z());\n if (!impostor.object.rotationQuaternion) {\n if (impostor.object.rotation) {\n this._tmpQuaternion.set(this._tmpAmmoTransform.getRotation().x(), this._tmpAmmoTransform.getRotation().y(), this._tmpAmmoTransform.getRotation().z(), this._tmpAmmoTransform.getRotation().w());\n this._tmpQuaternion.toEulerAnglesToRef(impostor.object.rotation);\n }\n }\n else {\n impostor.object.rotationQuaternion.set(this._tmpAmmoTransform.getRotation().x(), this._tmpAmmoTransform.getRotation().y(), this._tmpAmmoTransform.getRotation().z(), this._tmpAmmoTransform.getRotation().w());\n }\n }\n /**\n * Sets the babylon object's position/rotation from the physics body's position/rotation\n * @param impostor imposter containing the physics body and babylon object\n * @param newPosition new position\n * @param newRotation new rotation\n */\n setPhysicsBodyTransformation(impostor, newPosition, newRotation) {\n const trans = impostor.physicsBody.getWorldTransform();\n // If rotation/position has changed update and activate rigged body\n if (Math.abs(trans.getOrigin().x() - newPosition.x) > Epsilon ||\n Math.abs(trans.getOrigin().y() - newPosition.y) > Epsilon ||\n Math.abs(trans.getOrigin().z() - newPosition.z) > Epsilon ||\n Math.abs(trans.getRotation().x() - newRotation.x) > Epsilon ||\n Math.abs(trans.getRotation().y() - newRotation.y) > Epsilon ||\n Math.abs(trans.getRotation().z() - newRotation.z) > Epsilon ||\n Math.abs(trans.getRotation().w() - newRotation.w) > Epsilon) {\n this._tmpAmmoVectorA.setValue(newPosition.x, newPosition.y, newPosition.z);\n trans.setOrigin(this._tmpAmmoVectorA);\n this._tmpAmmoQuaternion.setValue(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\n trans.setRotation(this._tmpAmmoQuaternion);\n impostor.physicsBody.setWorldTransform(trans);\n if (impostor.mass == 0) {\n // Kinematic objects must be updated using motion state\n const motionState = impostor.physicsBody.getMotionState();\n if (motionState) {\n motionState.setWorldTransform(trans);\n }\n }\n else {\n impostor.physicsBody.activate();\n }\n }\n }\n /**\n * If this plugin is supported\n * @returns true if its supported\n */\n isSupported() {\n return this.bjsAMMO !== undefined;\n }\n /**\n * Sets the linear velocity of the physics body\n * @param impostor imposter to set the velocity on\n * @param velocity velocity to set\n */\n setLinearVelocity(impostor, velocity) {\n this._tmpAmmoVectorA.setValue(velocity.x, velocity.y, velocity.z);\n if (impostor.soft) {\n impostor.physicsBody.linearVelocity(this._tmpAmmoVectorA);\n }\n else {\n impostor.physicsBody.setLinearVelocity(this._tmpAmmoVectorA);\n }\n }\n /**\n * Sets the angular velocity of the physics body\n * @param impostor imposter to set the velocity on\n * @param velocity velocity to set\n */\n setAngularVelocity(impostor, velocity) {\n this._tmpAmmoVectorA.setValue(velocity.x, velocity.y, velocity.z);\n if (impostor.soft) {\n impostor.physicsBody.angularVelocity(this._tmpAmmoVectorA);\n }\n else {\n impostor.physicsBody.setAngularVelocity(this._tmpAmmoVectorA);\n }\n }\n /**\n * gets the linear velocity\n * @param impostor imposter to get linear velocity from\n * @returns linear velocity\n */\n getLinearVelocity(impostor) {\n let v;\n if (impostor.soft) {\n v = impostor.physicsBody.linearVelocity();\n }\n else {\n v = impostor.physicsBody.getLinearVelocity();\n }\n if (!v) {\n return null;\n }\n const result = new Vector3(v.x(), v.y(), v.z());\n this.bjsAMMO.destroy(v);\n return result;\n }\n /**\n * gets the angular velocity\n * @param impostor imposter to get angular velocity from\n * @returns angular velocity\n */\n getAngularVelocity(impostor) {\n let v;\n if (impostor.soft) {\n v = impostor.physicsBody.angularVelocity();\n }\n else {\n v = impostor.physicsBody.getAngularVelocity();\n }\n if (!v) {\n return null;\n }\n const result = new Vector3(v.x(), v.y(), v.z());\n this.bjsAMMO.destroy(v);\n return result;\n }\n /**\n * Sets the mass of physics body\n * @param impostor imposter to set the mass on\n * @param mass mass to set\n */\n setBodyMass(impostor, mass) {\n if (impostor.soft) {\n impostor.physicsBody.setTotalMass(mass, false);\n }\n else {\n impostor.physicsBody.setMassProps(mass);\n }\n impostor._pluginData.mass = mass;\n }\n /**\n * Gets the mass of the physics body\n * @param impostor imposter to get the mass from\n * @returns mass\n */\n getBodyMass(impostor) {\n return impostor._pluginData.mass || 0;\n }\n /**\n * Gets friction of the impostor\n * @param impostor impostor to get friction from\n * @returns friction value\n */\n getBodyFriction(impostor) {\n return impostor._pluginData.friction || 0;\n }\n /**\n * Sets friction of the impostor\n * @param impostor impostor to set friction on\n * @param friction friction value\n */\n setBodyFriction(impostor, friction) {\n if (impostor.soft) {\n impostor.physicsBody.get_m_cfg().set_kDF(friction);\n }\n else {\n impostor.physicsBody.setFriction(friction);\n }\n impostor._pluginData.friction = friction;\n }\n /**\n * Gets restitution of the impostor\n * @param impostor impostor to get restitution from\n * @returns restitution value\n */\n getBodyRestitution(impostor) {\n return impostor._pluginData.restitution || 0;\n }\n /**\n * Sets restitution of the impostor\n * @param impostor impostor to set resitution on\n * @param restitution resitution value\n */\n setBodyRestitution(impostor, restitution) {\n impostor.physicsBody.setRestitution(restitution);\n impostor._pluginData.restitution = restitution;\n }\n /**\n * Gets pressure inside the impostor\n * @param impostor impostor to get pressure from\n * @returns pressure value\n */\n getBodyPressure(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Pressure is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.pressure || 0;\n }\n /**\n * Sets pressure inside a soft body impostor\n * Cloth and rope must remain 0 pressure\n * @param impostor impostor to set pressure on\n * @param pressure pressure value\n */\n setBodyPressure(impostor, pressure) {\n if (impostor.soft) {\n if (impostor.type === PhysicsImpostor.SoftbodyImpostor) {\n impostor.physicsBody.get_m_cfg().set_kPR(pressure);\n impostor._pluginData.pressure = pressure;\n }\n else {\n impostor.physicsBody.get_m_cfg().set_kPR(0);\n impostor._pluginData.pressure = 0;\n }\n }\n else {\n Logger.Warn(\"Pressure can only be applied to a softbody\");\n }\n }\n /**\n * Gets stiffness of the impostor\n * @param impostor impostor to get stiffness from\n * @returns pressure value\n */\n getBodyStiffness(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Stiffness is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.stiffness || 0;\n }\n /**\n * Sets stiffness of the impostor\n * @param impostor impostor to set stiffness on\n * @param stiffness stiffness value from 0 to 1\n */\n setBodyStiffness(impostor, stiffness) {\n if (impostor.soft) {\n stiffness = stiffness < 0 ? 0 : stiffness;\n stiffness = stiffness > 1 ? 1 : stiffness;\n impostor.physicsBody.get_m_materials().at(0).set_m_kLST(stiffness);\n impostor._pluginData.stiffness = stiffness;\n }\n else {\n Logger.Warn(\"Stiffness cannot be applied to a rigid body\");\n }\n }\n /**\n * Gets velocityIterations of the impostor\n * @param impostor impostor to get velocity iterations from\n * @returns velocityIterations value\n */\n getBodyVelocityIterations(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Velocity iterations is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.velocityIterations || 0;\n }\n /**\n * Sets velocityIterations of the impostor\n * @param impostor impostor to set velocity iterations on\n * @param velocityIterations velocityIterations value\n */\n setBodyVelocityIterations(impostor, velocityIterations) {\n if (impostor.soft) {\n velocityIterations = velocityIterations < 0 ? 0 : velocityIterations;\n impostor.physicsBody.get_m_cfg().set_viterations(velocityIterations);\n impostor._pluginData.velocityIterations = velocityIterations;\n }\n else {\n Logger.Warn(\"Velocity iterations cannot be applied to a rigid body\");\n }\n }\n /**\n * Gets positionIterations of the impostor\n * @param impostor impostor to get position iterations from\n * @returns positionIterations value\n */\n getBodyPositionIterations(impostor) {\n if (!impostor.soft) {\n Logger.Warn(\"Position iterations is not a property of a rigid body\");\n return 0;\n }\n return impostor._pluginData.positionIterations || 0;\n }\n /**\n * Sets positionIterations of the impostor\n * @param impostor impostor to set position on\n * @param positionIterations positionIterations value\n */\n setBodyPositionIterations(impostor, positionIterations) {\n if (impostor.soft) {\n positionIterations = positionIterations < 0 ? 0 : positionIterations;\n impostor.physicsBody.get_m_cfg().set_piterations(positionIterations);\n impostor._pluginData.positionIterations = positionIterations;\n }\n else {\n Logger.Warn(\"Position iterations cannot be applied to a rigid body\");\n }\n }\n /**\n * Append an anchor to a cloth object\n * @param impostor is the cloth impostor to add anchor to\n * @param otherImpostor is the 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 soft impostor and anchor are ignored; default false\n */\n appendAnchor(impostor, otherImpostor, width, height, influence = 1, noCollisionBetweenLinkedBodies = false) {\n const segs = impostor.segments;\n const nbAcross = Math.round((segs - 1) * width);\n const nbUp = Math.round((segs - 1) * height);\n const nbDown = segs - 1 - nbUp;\n const node = nbAcross + segs * nbDown;\n impostor.physicsBody.appendAnchor(node, otherImpostor.physicsBody, noCollisionBetweenLinkedBodies, influence);\n }\n /**\n * Append an hook to a rope object\n * @param impostor is the rope impostor to add hook to\n * @param otherImpostor is the rigid impostor to hook to\n * @param length ratio along the rope from 0 to 1\n * @param influence the elasticity between soft 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 */\n appendHook(impostor, otherImpostor, length, influence = 1, noCollisionBetweenLinkedBodies = false) {\n const node = Math.round(impostor.segments * length);\n impostor.physicsBody.appendAnchor(node, otherImpostor.physicsBody, noCollisionBetweenLinkedBodies, influence);\n }\n /**\n * Sleeps the physics body and stops it from being active\n * @param impostor impostor to sleep\n */\n sleepBody(impostor) {\n impostor.physicsBody.forceActivationState(0);\n }\n /**\n * Activates the physics body\n * @param impostor impostor to activate\n */\n wakeUpBody(impostor) {\n impostor.physicsBody.activate();\n }\n /**\n * Updates the distance parameters of the joint\n */\n updateDistanceJoint() {\n Logger.Warn(\"updateDistanceJoint is not currently supported by the Ammo physics plugin\");\n }\n /**\n * Sets a motor on the joint\n * @param joint joint to set motor on\n * @param speed speed of the motor\n * @param maxForce maximum force of the motor\n */\n setMotor(joint, speed, maxForce) {\n joint.physicsJoint.enableAngularMotor(true, speed, maxForce);\n }\n /**\n * Sets the motors limit\n */\n setLimit() {\n Logger.Warn(\"setLimit is not currently supported by the Ammo physics plugin\");\n }\n /**\n * Syncs the position and rotation of a mesh with the impostor\n * @param mesh mesh to sync\n * @param impostor impostor to update the mesh with\n */\n syncMeshWithImpostor(mesh, impostor) {\n const body = impostor.physicsBody;\n body.getMotionState().getWorldTransform(this._tmpAmmoTransform);\n mesh.position.x = this._tmpAmmoTransform.getOrigin().x();\n mesh.position.y = this._tmpAmmoTransform.getOrigin().y();\n mesh.position.z = this._tmpAmmoTransform.getOrigin().z();\n if (mesh.rotationQuaternion) {\n mesh.rotationQuaternion.x = this._tmpAmmoTransform.getRotation().x();\n mesh.rotationQuaternion.y = this._tmpAmmoTransform.getRotation().y();\n mesh.rotationQuaternion.z = this._tmpAmmoTransform.getRotation().z();\n mesh.rotationQuaternion.w = this._tmpAmmoTransform.getRotation().w();\n }\n }\n /**\n * Gets the radius of the impostor\n * @param impostor impostor to get radius from\n * @returns the radius\n */\n getRadius(impostor) {\n const extents = impostor.getObjectExtents();\n return extents.x / 2;\n }\n /**\n * Gets the box size of the impostor\n * @param impostor impostor to get box size from\n * @param result the resulting box size\n */\n getBoxSizeToRef(impostor, result) {\n const extents = impostor.getObjectExtents();\n result.x = extents.x;\n result.y = extents.y;\n result.z = extents.z;\n }\n /**\n * Disposes of the impostor\n */\n dispose() {\n // Dispose of world\n this.bjsAMMO.destroy(this.world);\n this.bjsAMMO.destroy(this._softBodySolver);\n this.bjsAMMO.destroy(this._solver);\n this.bjsAMMO.destroy(this._overlappingPairCache);\n this.bjsAMMO.destroy(this._dispatcher);\n this.bjsAMMO.destroy(this._collisionConfiguration);\n // Dispose of temp variables\n this.bjsAMMO.destroy(this._tmpAmmoVectorA);\n this.bjsAMMO.destroy(this._tmpAmmoVectorB);\n this.bjsAMMO.destroy(this._tmpAmmoVectorC);\n this.bjsAMMO.destroy(this._tmpAmmoVectorD);\n this.bjsAMMO.destroy(this._tmpAmmoTransform);\n this.bjsAMMO.destroy(this._tmpAmmoQuaternion);\n this.bjsAMMO.destroy(this._tmpAmmoConcreteContactResultCallback);\n this.world = null;\n }\n /**\n * Does a raycast in the physics world\n * @param from where should the ray start?\n * @param to where should the ray end?\n * @returns PhysicsRaycastResult\n */\n raycast(from, to) {\n this.raycastToRef(from, to, this._raycastResult);\n return this._raycastResult;\n }\n /**\n * Does a raycast in the physics world\n * @param from when should the ray start?\n * @param to when should the ray end?\n * @param result resulting PhysicsRaycastResult\n */\n raycastToRef(from, to, result) {\n this._tmpAmmoVectorRCA = new this.bjsAMMO.btVector3(from.x, from.y, from.z);\n this._tmpAmmoVectorRCB = new this.bjsAMMO.btVector3(to.x, to.y, to.z);\n const rayCallback = new this.bjsAMMO.ClosestRayResultCallback(this._tmpAmmoVectorRCA, this._tmpAmmoVectorRCB);\n this.world.rayTest(this._tmpAmmoVectorRCA, this._tmpAmmoVectorRCB, rayCallback);\n result.reset(from, to);\n if (rayCallback.hasHit()) {\n // TODO: do we want/need the body? If so, set all the data\n /*\n var rigidBody = this.bjsAMMO.btRigidBody.prototype.upcast(\n rayCallback.get_m_collisionObject()\n );\n var body = {};\n */\n result.setHitData({\n x: rayCallback.get_m_hitNormalWorld().x(),\n y: rayCallback.get_m_hitNormalWorld().y(),\n z: rayCallback.get_m_hitNormalWorld().z(),\n }, {\n x: rayCallback.get_m_hitPointWorld().x(),\n y: rayCallback.get_m_hitPointWorld().y(),\n z: rayCallback.get_m_hitPointWorld().z(),\n });\n result.calculateHitDistance();\n }\n this.bjsAMMO.destroy(rayCallback);\n this.bjsAMMO.destroy(this._tmpAmmoVectorRCA);\n this.bjsAMMO.destroy(this._tmpAmmoVectorRCB);\n }\n}\nAmmoJSPlugin._DISABLE_COLLISION_FLAG = 4;\nAmmoJSPlugin._KINEMATIC_FLAG = 2;\nAmmoJSPlugin._DISABLE_DEACTIVATION_FLAG = 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