| 1 |
- {"ast":null,"code":"import { PhysicsImpostor } from \"../physicsImpostor.js\";\nimport { PhysicsJoint } from \"../physicsJoint.js\";\nimport { Vector3, Quaternion } from \"../../../Maths/math.vector.js\";\nimport { Logger } from \"../../../Misc/logger.js\";\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult.js\";\nimport { Epsilon } from \"../../../Maths/math.constants.js\";\n/** @internal */\nexport class OimoJSPlugin {\n constructor(_useDeltaForWorldStep = true, iterations, oimoInjection = OIMO) {\n this._useDeltaForWorldStep = _useDeltaForWorldStep;\n this.name = \"OimoJSPlugin\";\n this._fixedTimeStep = 1 / 60;\n this._tmpImpostorsArray = [];\n this._tmpPositionVector = Vector3.Zero();\n this.BJSOIMO = oimoInjection;\n this.world = new this.BJSOIMO.World({\n iterations: iterations\n });\n this.world.clear();\n this._raycastResult = new PhysicsRaycastResult();\n }\n /**\n *\n * @returns plugin version\n */\n getPluginVersion() {\n return 1;\n }\n setGravity(gravity) {\n this.world.gravity.set(gravity.x, gravity.y, gravity.z);\n }\n setTimeStep(timeStep) {\n this.world.timeStep = timeStep;\n }\n getTimeStep() {\n return this.world.timeStep;\n }\n executeStep(delta, impostors) {\n impostors.forEach(function (impostor) {\n impostor.beforeStep();\n });\n this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\n this.world.step();\n impostors.forEach(impostor => {\n impostor.afterStep();\n //update the ordered impostors array\n this._tmpImpostorsArray[impostor.uniqueId] = impostor;\n });\n //check for collisions\n let contact = this.world.contacts;\n while (contact !== null) {\n if (contact.touching && !contact.body1.sleeping && !contact.body2.sleeping) {\n contact = contact.next;\n continue;\n }\n //is this body colliding with any other? get the impostor\n const mainImpostor = this._tmpImpostorsArray[+contact.body1.name];\n const collidingImpostor = this._tmpImpostorsArray[+contact.body2.name];\n if (!mainImpostor || !collidingImpostor) {\n contact = contact.next;\n continue;\n }\n mainImpostor.onCollide({\n body: collidingImpostor.physicsBody,\n point: null,\n distance: 0,\n impulse: 0,\n normal: null\n });\n collidingImpostor.onCollide({\n body: mainImpostor.physicsBody,\n point: null,\n distance: 0,\n impulse: 0,\n normal: null\n });\n contact = contact.next;\n }\n }\n applyImpulse(impostor, force, contactPoint) {\n const mass = impostor.physicsBody.mass;\n impostor.physicsBody.applyImpulse(contactPoint.scale(this.world.invScale), force.scale(this.world.invScale * mass));\n }\n applyForce(impostor, force, contactPoint) {\n Logger.Warn(\"Oimo doesn't support applying force. Using impulse instead.\");\n this.applyImpulse(impostor, force, contactPoint);\n }\n generatePhysicsBody(impostor) {\n //parent-child relationship. Does this impostor has a parent impostor?\n if (impostor.parent) {\n if (impostor.physicsBody) {\n this.removePhysicsBody(impostor);\n //TODO is that needed?\n impostor.forceUpdate();\n }\n return;\n }\n if (impostor.isBodyInitRequired()) {\n const bodyConfig = {\n name: impostor.uniqueId,\n //Oimo must have mass, also for static objects.\n config: [impostor.getParam(\"mass\") || 0.001, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\")],\n size: [],\n type: [],\n pos: [],\n posShape: [],\n rot: [],\n rotShape: [],\n move: impostor.getParam(\"mass\") !== 0,\n density: impostor.getParam(\"mass\"),\n friction: impostor.getParam(\"friction\"),\n restitution: impostor.getParam(\"restitution\"),\n //Supporting older versions of Oimo\n world: this.world\n };\n const impostors = [impostor];\n const addToArray = parent => {\n if (!parent.getChildMeshes) {\n return;\n }\n parent.getChildMeshes().forEach(function (m) {\n if (m.physicsImpostor) {\n impostors.push(m.physicsImpostor);\n //m.physicsImpostor._init();\n }\n });\n };\n addToArray(impostor.object);\n const checkWithEpsilon = value => {\n return Math.max(value, Epsilon);\n };\n const globalQuaternion = new Quaternion();\n impostors.forEach(i => {\n if (!i.object.rotationQuaternion) {\n return;\n }\n //get the correct bounding box\n const oldQuaternion = i.object.rotationQuaternion;\n globalQuaternion.copyFrom(oldQuaternion);\n i.object.rotationQuaternion.set(0, 0, 0, 1);\n i.object.computeWorldMatrix(true);\n const rot = globalQuaternion.toEulerAngles();\n const impostorExtents = i.getObjectExtents();\n // eslint-disable-next-line no-loss-of-precision\n const radToDeg = 57.295779513082320876;\n if (i === impostor) {\n const center = impostor.getObjectCenter();\n impostor.object.getAbsolutePivotPoint().subtractToRef(center, this._tmpPositionVector);\n this._tmpPositionVector.divideInPlace(impostor.object.scaling);\n //Can also use Array.prototype.push.apply\n bodyConfig.pos.push(center.x);\n bodyConfig.pos.push(center.y);\n bodyConfig.pos.push(center.z);\n bodyConfig.posShape.push(0, 0, 0);\n bodyConfig.rotShape.push(0, 0, 0);\n } else {\n const localPosition = i.object.position.clone();\n bodyConfig.posShape.push(localPosition.x);\n bodyConfig.posShape.push(localPosition.y);\n bodyConfig.posShape.push(localPosition.z);\n // bodyConfig.pos.push(0, 0, 0);\n bodyConfig.rotShape.push(rot.x * radToDeg, rot.y * radToDeg, rot.z * radToDeg);\n }\n i.object.rotationQuaternion.copyFrom(globalQuaternion);\n // register mesh\n switch (i.type) {\n case PhysicsImpostor.ParticleImpostor:\n Logger.Warn(\"No Particle support in OIMO.js. using SphereImpostor instead\");\n // eslint-disable-next-line no-fallthrough\n case PhysicsImpostor.SphereImpostor:\n {\n const radiusX = impostorExtents.x;\n const radiusY = impostorExtents.y;\n const radiusZ = impostorExtents.z;\n const size = Math.max(checkWithEpsilon(radiusX), checkWithEpsilon(radiusY), checkWithEpsilon(radiusZ)) / 2;\n bodyConfig.type.push(\"sphere\");\n //due to the way oimo works with compounds, add 3 times\n bodyConfig.size.push(size);\n bodyConfig.size.push(size);\n bodyConfig.size.push(size);\n break;\n }\n case PhysicsImpostor.CylinderImpostor:\n {\n const sizeX = checkWithEpsilon(impostorExtents.x) / 2;\n const sizeY = checkWithEpsilon(impostorExtents.y);\n bodyConfig.type.push(\"cylinder\");\n bodyConfig.size.push(sizeX);\n bodyConfig.size.push(sizeY);\n //due to the way oimo works with compounds, add one more value.\n bodyConfig.size.push(sizeY);\n break;\n }\n case PhysicsImpostor.PlaneImpostor:\n case PhysicsImpostor.BoxImpostor:\n default:\n {\n const sizeX = checkWithEpsilon(impostorExtents.x);\n const sizeY = checkWithEpsilon(impostorExtents.y);\n const sizeZ = checkWithEpsilon(impostorExtents.z);\n bodyConfig.type.push(\"box\");\n //if (i === impostor) {\n bodyConfig.size.push(sizeX);\n bodyConfig.size.push(sizeY);\n bodyConfig.size.push(sizeZ);\n //} else {\n // bodyConfig.size.push(0,0,0);\n //}\n break;\n }\n }\n //actually not needed, but hey...\n i.object.rotationQuaternion = oldQuaternion;\n });\n impostor.physicsBody = this.world.add(bodyConfig);\n // set the quaternion, ignoring the previously defined (euler) rotation\n impostor.physicsBody.resetQuaternion(globalQuaternion);\n // update with delta 0, so the body will receive the new rotation.\n impostor.physicsBody.updatePosition(0);\n } else {\n this._tmpPositionVector.copyFromFloats(0, 0, 0);\n }\n impostor.setDeltaPosition(this._tmpPositionVector);\n //this._tmpPositionVector.addInPlace(impostor.mesh.getBoundingInfo().boundingBox.center);\n //this.setPhysicsBodyTransformation(impostor, this._tmpPositionVector, impostor.mesh.rotationQuaternion);\n }\n removePhysicsBody(impostor) {\n //impostor.physicsBody.dispose();\n this.world.removeRigidBody(impostor.physicsBody);\n }\n generateJoint(impostorJoint) {\n const mainBody = impostorJoint.mainImpostor.physicsBody;\n const connectedBody = impostorJoint.connectedImpostor.physicsBody;\n if (!mainBody || !connectedBody) {\n return;\n }\n const jointData = impostorJoint.joint.jointData;\n const options = jointData.nativeParams || {};\n let type;\n const nativeJointData = {\n body1: mainBody,\n body2: connectedBody,\n axe1: options.axe1 || (jointData.mainAxis ? jointData.mainAxis.asArray() : null),\n axe2: options.axe2 || (jointData.connectedAxis ? jointData.connectedAxis.asArray() : null),\n pos1: options.pos1 || (jointData.mainPivot ? jointData.mainPivot.asArray() : null),\n pos2: options.pos2 || (jointData.connectedPivot ? jointData.connectedPivot.asArray() : null),\n min: options.min,\n max: options.max,\n collision: options.collision || jointData.collision,\n spring: options.spring,\n //supporting older version of Oimo\n world: this.world\n };\n switch (impostorJoint.joint.type) {\n case PhysicsJoint.BallAndSocketJoint:\n type = \"jointBall\";\n break;\n case PhysicsJoint.SpringJoint:\n {\n Logger.Warn(\"OIMO.js doesn't support Spring Constraint. Simulating using DistanceJoint instead\");\n const springData = jointData;\n nativeJointData.min = springData.length || nativeJointData.min;\n //Max should also be set, just make sure it is at least min\n nativeJointData.max = Math.max(nativeJointData.min, nativeJointData.max);\n }\n // eslint-disable-next-line no-fallthrough\n case PhysicsJoint.DistanceJoint:\n type = \"jointDistance\";\n nativeJointData.max = jointData.maxDistance;\n break;\n case PhysicsJoint.PrismaticJoint:\n type = \"jointPrisme\";\n break;\n case PhysicsJoint.SliderJoint:\n type = \"jointSlide\";\n break;\n case PhysicsJoint.WheelJoint:\n type = \"jointWheel\";\n break;\n case PhysicsJoint.HingeJoint:\n default:\n type = \"jointHinge\";\n break;\n }\n nativeJointData.type = type;\n impostorJoint.joint.physicsJoint = this.world.add(nativeJointData);\n }\n removeJoint(impostorJoint) {\n //Bug in Oimo prevents us from disposing a joint in the playground\n //joint.joint.physicsJoint.dispose();\n //So we will bruteforce it!\n try {\n this.world.removeJoint(impostorJoint.joint.physicsJoint);\n } catch (e) {\n Logger.Warn(e);\n }\n }\n isSupported() {\n return this.BJSOIMO !== undefined;\n }\n setTransformationFromPhysicsBody(impostor) {\n if (!impostor.physicsBody.sleeping) {\n if (impostor.physicsBody.shapes.next) {\n let parent = impostor.physicsBody.shapes;\n while (parent.next) {\n parent = parent.next;\n }\n impostor.object.position.set(parent.position.x, parent.position.y, parent.position.z);\n } else {\n const pos = impostor.physicsBody.getPosition();\n impostor.object.position.set(pos.x, pos.y, pos.z);\n }\n if (impostor.object.rotationQuaternion) {\n const quat = impostor.physicsBody.getQuaternion();\n impostor.object.rotationQuaternion.set(quat.x, quat.y, quat.z, quat.w);\n }\n }\n }\n setPhysicsBodyTransformation(impostor, newPosition, newRotation) {\n const body = impostor.physicsBody;\n // disable bidirectional for compound meshes\n if (impostor.physicsBody.shapes.next) {\n return;\n }\n body.position.set(newPosition.x, newPosition.y, newPosition.z);\n body.orientation.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\n body.syncShapes();\n body.awake();\n }\n /*private _getLastShape(body: any): any {\n var lastShape = body.shapes;\n while (lastShape.next) {\n lastShape = lastShape.next;\n }\n return lastShape;\n }*/\n setLinearVelocity(impostor, velocity) {\n impostor.physicsBody.linearVelocity.set(velocity.x, velocity.y, velocity.z);\n }\n setAngularVelocity(impostor, velocity) {\n impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\n }\n getLinearVelocity(impostor) {\n const v = impostor.physicsBody.linearVelocity;\n if (!v) {\n return null;\n }\n return new Vector3(v.x, v.y, v.z);\n }\n getAngularVelocity(impostor) {\n const v = impostor.physicsBody.angularVelocity;\n if (!v) {\n return null;\n }\n return new Vector3(v.x, v.y, v.z);\n }\n setBodyMass(impostor, mass) {\n const staticBody = mass === 0;\n //this will actually set the body's density and not its mass.\n //But this is how oimo treats the mass variable.\n impostor.physicsBody.shapes.density = staticBody ? 1 : mass;\n impostor.physicsBody.setupMass(staticBody ? 0x2 : 0x1);\n }\n getBodyMass(impostor) {\n return impostor.physicsBody.shapes.density;\n }\n getBodyFriction(impostor) {\n return impostor.physicsBody.shapes.friction;\n }\n setBodyFriction(impostor, friction) {\n impostor.physicsBody.shapes.friction = friction;\n }\n getBodyRestitution(impostor) {\n return impostor.physicsBody.shapes.restitution;\n }\n setBodyRestitution(impostor, restitution) {\n impostor.physicsBody.shapes.restitution = restitution;\n }\n sleepBody(impostor) {\n impostor.physicsBody.sleep();\n }\n wakeUpBody(impostor) {\n impostor.physicsBody.awake();\n }\n updateDistanceJoint(joint, maxDistance, minDistance) {\n joint.physicsJoint.limitMotor.upperLimit = maxDistance;\n if (minDistance !== void 0) {\n joint.physicsJoint.limitMotor.lowerLimit = minDistance;\n }\n }\n setMotor(joint, speed, force, motorIndex) {\n if (force !== undefined) {\n Logger.Warn(\"OimoJS plugin currently has unexpected behavior when using setMotor with force parameter\");\n } else {\n force = 1e6;\n }\n speed *= -1;\n //TODO separate rotational and transational motors.\n const motor = motorIndex ? joint.physicsJoint.rotationalLimitMotor2 : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\n if (motor) {\n motor.setMotor(speed, force);\n }\n }\n setLimit(joint, upperLimit, lowerLimit, motorIndex) {\n //TODO separate rotational and transational motors.\n const motor = motorIndex ? joint.physicsJoint.rotationalLimitMotor2 : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\n if (motor) {\n motor.setLimit(upperLimit, lowerLimit === void 0 ? -upperLimit : lowerLimit);\n }\n }\n syncMeshWithImpostor(mesh, impostor) {\n const body = impostor.physicsBody;\n mesh.position.x = body.position.x;\n mesh.position.y = body.position.y;\n mesh.position.z = body.position.z;\n if (mesh.rotationQuaternion) {\n mesh.rotationQuaternion.x = body.orientation.x;\n mesh.rotationQuaternion.y = body.orientation.y;\n mesh.rotationQuaternion.z = body.orientation.z;\n mesh.rotationQuaternion.w = body.orientation.w;\n }\n }\n getRadius(impostor) {\n return impostor.physicsBody.shapes.radius;\n }\n getBoxSizeToRef(impostor, result) {\n const shape = impostor.physicsBody.shapes;\n result.x = shape.halfWidth * 2;\n result.y = shape.halfHeight * 2;\n result.z = shape.halfDepth * 2;\n }\n dispose() {\n this.world.clear();\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 * @returns PhysicsRaycastResult\n */\n raycast(from, to) {\n Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\n this._raycastResult.reset(from, to);\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 Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\n result.reset(from, to);\n }\n}","map":{"version":3,"names":["PhysicsImpostor","PhysicsJoint","Vector3","Quaternion","Logger","PhysicsRaycastResult","Epsilon","OimoJSPlugin","constructor","_useDeltaForWorldStep","iterations","oimoInjection","OIMO","name","_fixedTimeStep","_tmpImpostorsArray","_tmpPositionVector","Zero","BJSOIMO","world","World","clear","_raycastResult","getPluginVersion","setGravity","gravity","set","x","y","z","setTimeStep","timeStep","getTimeStep","executeStep","delta","impostors","forEach","impostor","beforeStep","step","afterStep","uniqueId","contact","contacts","touching","body1","sleeping","body2","next","mainImpostor","collidingImpostor","onCollide","body","physicsBody","point","distance","impulse","normal","applyImpulse","force","contactPoint","mass","scale","invScale","applyForce","Warn","generatePhysicsBody","parent","removePhysicsBody","forceUpdate","isBodyInitRequired","bodyConfig","config","getParam","size","type","pos","posShape","rot","rotShape","move","density","friction","restitution","addToArray","getChildMeshes","m","physicsImpostor","push","object","checkWithEpsilon","value","Math","max","globalQuaternion","i","rotationQuaternion","oldQuaternion","copyFrom","computeWorldMatrix","toEulerAngles","impostorExtents","getObjectExtents","radToDeg","center","getObjectCenter","getAbsolutePivotPoint","subtractToRef","divideInPlace","scaling","localPosition","position","clone","ParticleImpostor","SphereImpostor","radiusX","radiusY","radiusZ","CylinderImpostor","sizeX","sizeY","PlaneImpostor","BoxImpostor","sizeZ","add","resetQuaternion","updatePosition","copyFromFloats","setDeltaPosition","removeRigidBody","generateJoint","impostorJoint","mainBody","connectedBody","connectedImpostor","jointData","joint","options","nativeParams","nativeJointData","axe1","mainAxis","asArray","axe2","connectedAxis","pos1","mainPivot","pos2","connectedPivot","min","collision","spring","BallAndSocketJoint","SpringJoint","springData","length","DistanceJoint","maxDistance","PrismaticJoint","SliderJoint","WheelJoint","HingeJoint","physicsJoint","removeJoint","e","isSupported","undefined","setTransformationFromPhysicsBody","shapes","getPosition","quat","getQuaternion","w","setPhysicsBodyTransformation","newPosition","newRotation","orientation","syncShapes","awake","setLinearVelocity","velocity","linearVelocity","setAngularVelocity","angularVelocity","getLinearVelocity","v","getAngularVelocity","setBodyMass","staticBody","setupMass","getBodyMass","getBodyFriction","setBodyFriction","getBodyRestitution","setBodyRestitution","sleepBody","sleep","wakeUpBody","updateDistanceJoint","minDistance","limitMotor","upperLimit","lowerLimit","setMotor","speed","motorIndex","motor","rotationalLimitMotor2","rotationalLimitMotor1","rotationalLimitMotor","setLimit","syncMeshWithImpostor","mesh","getRadius","radius","getBoxSizeToRef","result","shape","halfWidth","halfHeight","halfDepth","dispose","raycast","from","to","reset","raycastToRef"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Physics/v1/Plugins/oimoJSPlugin.js"],"sourcesContent":["import { PhysicsImpostor } from \"../physicsImpostor.js\";\nimport { PhysicsJoint } from \"../physicsJoint.js\";\nimport { Vector3, Quaternion } from \"../../../Maths/math.vector.js\";\nimport { Logger } from \"../../../Misc/logger.js\";\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult.js\";\nimport { Epsilon } from \"../../../Maths/math.constants.js\";\n/** @internal */\nexport class OimoJSPlugin {\n constructor(_useDeltaForWorldStep = true, iterations, oimoInjection = OIMO) {\n this._useDeltaForWorldStep = _useDeltaForWorldStep;\n this.name = \"OimoJSPlugin\";\n this._fixedTimeStep = 1 / 60;\n this._tmpImpostorsArray = [];\n this._tmpPositionVector = Vector3.Zero();\n this.BJSOIMO = oimoInjection;\n this.world = new this.BJSOIMO.World({\n iterations: iterations,\n });\n this.world.clear();\n this._raycastResult = new PhysicsRaycastResult();\n }\n /**\n *\n * @returns plugin version\n */\n getPluginVersion() {\n return 1;\n }\n setGravity(gravity) {\n this.world.gravity.set(gravity.x, gravity.y, gravity.z);\n }\n setTimeStep(timeStep) {\n this.world.timeStep = timeStep;\n }\n getTimeStep() {\n return this.world.timeStep;\n }\n executeStep(delta, impostors) {\n impostors.forEach(function (impostor) {\n impostor.beforeStep();\n });\n this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\n this.world.step();\n impostors.forEach((impostor) => {\n impostor.afterStep();\n //update the ordered impostors array\n this._tmpImpostorsArray[impostor.uniqueId] = impostor;\n });\n //check for collisions\n let contact = this.world.contacts;\n while (contact !== null) {\n if (contact.touching && !contact.body1.sleeping && !contact.body2.sleeping) {\n contact = contact.next;\n continue;\n }\n //is this body colliding with any other? get the impostor\n const mainImpostor = this._tmpImpostorsArray[+contact.body1.name];\n const collidingImpostor = this._tmpImpostorsArray[+contact.body2.name];\n if (!mainImpostor || !collidingImpostor) {\n contact = contact.next;\n continue;\n }\n mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\n collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\n contact = contact.next;\n }\n }\n applyImpulse(impostor, force, contactPoint) {\n const mass = impostor.physicsBody.mass;\n impostor.physicsBody.applyImpulse(contactPoint.scale(this.world.invScale), force.scale(this.world.invScale * mass));\n }\n applyForce(impostor, force, contactPoint) {\n Logger.Warn(\"Oimo doesn't support applying force. Using impulse instead.\");\n this.applyImpulse(impostor, force, contactPoint);\n }\n generatePhysicsBody(impostor) {\n //parent-child relationship. Does this impostor has a parent impostor?\n if (impostor.parent) {\n if (impostor.physicsBody) {\n this.removePhysicsBody(impostor);\n //TODO is that needed?\n impostor.forceUpdate();\n }\n return;\n }\n if (impostor.isBodyInitRequired()) {\n const bodyConfig = {\n name: impostor.uniqueId,\n //Oimo must have mass, also for static objects.\n config: [impostor.getParam(\"mass\") || 0.001, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\")],\n size: [],\n type: [],\n pos: [],\n posShape: [],\n rot: [],\n rotShape: [],\n move: impostor.getParam(\"mass\") !== 0,\n density: impostor.getParam(\"mass\"),\n friction: impostor.getParam(\"friction\"),\n restitution: impostor.getParam(\"restitution\"),\n //Supporting older versions of Oimo\n world: this.world,\n };\n const impostors = [impostor];\n const addToArray = (parent) => {\n if (!parent.getChildMeshes) {\n return;\n }\n parent.getChildMeshes().forEach(function (m) {\n if (m.physicsImpostor) {\n impostors.push(m.physicsImpostor);\n //m.physicsImpostor._init();\n }\n });\n };\n addToArray(impostor.object);\n const checkWithEpsilon = (value) => {\n return Math.max(value, Epsilon);\n };\n const globalQuaternion = new Quaternion();\n impostors.forEach((i) => {\n if (!i.object.rotationQuaternion) {\n return;\n }\n //get the correct bounding box\n const oldQuaternion = i.object.rotationQuaternion;\n globalQuaternion.copyFrom(oldQuaternion);\n i.object.rotationQuaternion.set(0, 0, 0, 1);\n i.object.computeWorldMatrix(true);\n const rot = globalQuaternion.toEulerAngles();\n const impostorExtents = i.getObjectExtents();\n // eslint-disable-next-line no-loss-of-precision\n const radToDeg = 57.295779513082320876;\n if (i === impostor) {\n const center = impostor.getObjectCenter();\n impostor.object.getAbsolutePivotPoint().subtractToRef(center, this._tmpPositionVector);\n this._tmpPositionVector.divideInPlace(impostor.object.scaling);\n //Can also use Array.prototype.push.apply\n bodyConfig.pos.push(center.x);\n bodyConfig.pos.push(center.y);\n bodyConfig.pos.push(center.z);\n bodyConfig.posShape.push(0, 0, 0);\n bodyConfig.rotShape.push(0, 0, 0);\n }\n else {\n const localPosition = i.object.position.clone();\n bodyConfig.posShape.push(localPosition.x);\n bodyConfig.posShape.push(localPosition.y);\n bodyConfig.posShape.push(localPosition.z);\n // bodyConfig.pos.push(0, 0, 0);\n bodyConfig.rotShape.push(rot.x * radToDeg, rot.y * radToDeg, rot.z * radToDeg);\n }\n i.object.rotationQuaternion.copyFrom(globalQuaternion);\n // register mesh\n switch (i.type) {\n case PhysicsImpostor.ParticleImpostor:\n Logger.Warn(\"No Particle support in OIMO.js. using SphereImpostor instead\");\n // eslint-disable-next-line no-fallthrough\n case PhysicsImpostor.SphereImpostor: {\n const radiusX = impostorExtents.x;\n const radiusY = impostorExtents.y;\n const radiusZ = impostorExtents.z;\n const size = Math.max(checkWithEpsilon(radiusX), checkWithEpsilon(radiusY), checkWithEpsilon(radiusZ)) / 2;\n bodyConfig.type.push(\"sphere\");\n //due to the way oimo works with compounds, add 3 times\n bodyConfig.size.push(size);\n bodyConfig.size.push(size);\n bodyConfig.size.push(size);\n break;\n }\n case PhysicsImpostor.CylinderImpostor: {\n const sizeX = checkWithEpsilon(impostorExtents.x) / 2;\n const sizeY = checkWithEpsilon(impostorExtents.y);\n bodyConfig.type.push(\"cylinder\");\n bodyConfig.size.push(sizeX);\n bodyConfig.size.push(sizeY);\n //due to the way oimo works with compounds, add one more value.\n bodyConfig.size.push(sizeY);\n break;\n }\n case PhysicsImpostor.PlaneImpostor:\n case PhysicsImpostor.BoxImpostor:\n default: {\n const sizeX = checkWithEpsilon(impostorExtents.x);\n const sizeY = checkWithEpsilon(impostorExtents.y);\n const sizeZ = checkWithEpsilon(impostorExtents.z);\n bodyConfig.type.push(\"box\");\n //if (i === impostor) {\n bodyConfig.size.push(sizeX);\n bodyConfig.size.push(sizeY);\n bodyConfig.size.push(sizeZ);\n //} else {\n // bodyConfig.size.push(0,0,0);\n //}\n break;\n }\n }\n //actually not needed, but hey...\n i.object.rotationQuaternion = oldQuaternion;\n });\n impostor.physicsBody = this.world.add(bodyConfig);\n // set the quaternion, ignoring the previously defined (euler) rotation\n impostor.physicsBody.resetQuaternion(globalQuaternion);\n // update with delta 0, so the body will receive the new rotation.\n impostor.physicsBody.updatePosition(0);\n }\n else {\n this._tmpPositionVector.copyFromFloats(0, 0, 0);\n }\n impostor.setDeltaPosition(this._tmpPositionVector);\n //this._tmpPositionVector.addInPlace(impostor.mesh.getBoundingInfo().boundingBox.center);\n //this.setPhysicsBodyTransformation(impostor, this._tmpPositionVector, impostor.mesh.rotationQuaternion);\n }\n removePhysicsBody(impostor) {\n //impostor.physicsBody.dispose();\n this.world.removeRigidBody(impostor.physicsBody);\n }\n generateJoint(impostorJoint) {\n const mainBody = impostorJoint.mainImpostor.physicsBody;\n const connectedBody = impostorJoint.connectedImpostor.physicsBody;\n if (!mainBody || !connectedBody) {\n return;\n }\n const jointData = impostorJoint.joint.jointData;\n const options = jointData.nativeParams || {};\n let type;\n const nativeJointData = {\n body1: mainBody,\n body2: connectedBody,\n axe1: options.axe1 || (jointData.mainAxis ? jointData.mainAxis.asArray() : null),\n axe2: options.axe2 || (jointData.connectedAxis ? jointData.connectedAxis.asArray() : null),\n pos1: options.pos1 || (jointData.mainPivot ? jointData.mainPivot.asArray() : null),\n pos2: options.pos2 || (jointData.connectedPivot ? jointData.connectedPivot.asArray() : null),\n min: options.min,\n max: options.max,\n collision: options.collision || jointData.collision,\n spring: options.spring,\n //supporting older version of Oimo\n world: this.world,\n };\n switch (impostorJoint.joint.type) {\n case PhysicsJoint.BallAndSocketJoint:\n type = \"jointBall\";\n break;\n case PhysicsJoint.SpringJoint: {\n Logger.Warn(\"OIMO.js doesn't support Spring Constraint. Simulating using DistanceJoint instead\");\n const springData = jointData;\n nativeJointData.min = springData.length || nativeJointData.min;\n //Max should also be set, just make sure it is at least min\n nativeJointData.max = Math.max(nativeJointData.min, nativeJointData.max);\n }\n // eslint-disable-next-line no-fallthrough\n case PhysicsJoint.DistanceJoint:\n type = \"jointDistance\";\n nativeJointData.max = jointData.maxDistance;\n break;\n case PhysicsJoint.PrismaticJoint:\n type = \"jointPrisme\";\n break;\n case PhysicsJoint.SliderJoint:\n type = \"jointSlide\";\n break;\n case PhysicsJoint.WheelJoint:\n type = \"jointWheel\";\n break;\n case PhysicsJoint.HingeJoint:\n default:\n type = \"jointHinge\";\n break;\n }\n nativeJointData.type = type;\n impostorJoint.joint.physicsJoint = this.world.add(nativeJointData);\n }\n removeJoint(impostorJoint) {\n //Bug in Oimo prevents us from disposing a joint in the playground\n //joint.joint.physicsJoint.dispose();\n //So we will bruteforce it!\n try {\n this.world.removeJoint(impostorJoint.joint.physicsJoint);\n }\n catch (e) {\n Logger.Warn(e);\n }\n }\n isSupported() {\n return this.BJSOIMO !== undefined;\n }\n setTransformationFromPhysicsBody(impostor) {\n if (!impostor.physicsBody.sleeping) {\n if (impostor.physicsBody.shapes.next) {\n let parent = impostor.physicsBody.shapes;\n while (parent.next) {\n parent = parent.next;\n }\n impostor.object.position.set(parent.position.x, parent.position.y, parent.position.z);\n }\n else {\n const pos = impostor.physicsBody.getPosition();\n impostor.object.position.set(pos.x, pos.y, pos.z);\n }\n if (impostor.object.rotationQuaternion) {\n const quat = impostor.physicsBody.getQuaternion();\n impostor.object.rotationQuaternion.set(quat.x, quat.y, quat.z, quat.w);\n }\n }\n }\n setPhysicsBodyTransformation(impostor, newPosition, newRotation) {\n const body = impostor.physicsBody;\n // disable bidirectional for compound meshes\n if (impostor.physicsBody.shapes.next) {\n return;\n }\n body.position.set(newPosition.x, newPosition.y, newPosition.z);\n body.orientation.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\n body.syncShapes();\n body.awake();\n }\n /*private _getLastShape(body: any): any {\n var lastShape = body.shapes;\n while (lastShape.next) {\n lastShape = lastShape.next;\n }\n return lastShape;\n }*/\n setLinearVelocity(impostor, velocity) {\n impostor.physicsBody.linearVelocity.set(velocity.x, velocity.y, velocity.z);\n }\n setAngularVelocity(impostor, velocity) {\n impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\n }\n getLinearVelocity(impostor) {\n const v = impostor.physicsBody.linearVelocity;\n if (!v) {\n return null;\n }\n return new Vector3(v.x, v.y, v.z);\n }\n getAngularVelocity(impostor) {\n const v = impostor.physicsBody.angularVelocity;\n if (!v) {\n return null;\n }\n return new Vector3(v.x, v.y, v.z);\n }\n setBodyMass(impostor, mass) {\n const staticBody = mass === 0;\n //this will actually set the body's density and not its mass.\n //But this is how oimo treats the mass variable.\n impostor.physicsBody.shapes.density = staticBody ? 1 : mass;\n impostor.physicsBody.setupMass(staticBody ? 0x2 : 0x1);\n }\n getBodyMass(impostor) {\n return impostor.physicsBody.shapes.density;\n }\n getBodyFriction(impostor) {\n return impostor.physicsBody.shapes.friction;\n }\n setBodyFriction(impostor, friction) {\n impostor.physicsBody.shapes.friction = friction;\n }\n getBodyRestitution(impostor) {\n return impostor.physicsBody.shapes.restitution;\n }\n setBodyRestitution(impostor, restitution) {\n impostor.physicsBody.shapes.restitution = restitution;\n }\n sleepBody(impostor) {\n impostor.physicsBody.sleep();\n }\n wakeUpBody(impostor) {\n impostor.physicsBody.awake();\n }\n updateDistanceJoint(joint, maxDistance, minDistance) {\n joint.physicsJoint.limitMotor.upperLimit = maxDistance;\n if (minDistance !== void 0) {\n joint.physicsJoint.limitMotor.lowerLimit = minDistance;\n }\n }\n setMotor(joint, speed, force, motorIndex) {\n if (force !== undefined) {\n Logger.Warn(\"OimoJS plugin currently has unexpected behavior when using setMotor with force parameter\");\n }\n else {\n force = 1e6;\n }\n speed *= -1;\n //TODO separate rotational and transational motors.\n const motor = motorIndex\n ? joint.physicsJoint.rotationalLimitMotor2\n : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\n if (motor) {\n motor.setMotor(speed, force);\n }\n }\n setLimit(joint, upperLimit, lowerLimit, motorIndex) {\n //TODO separate rotational and transational motors.\n const motor = motorIndex\n ? joint.physicsJoint.rotationalLimitMotor2\n : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\n if (motor) {\n motor.setLimit(upperLimit, lowerLimit === void 0 ? -upperLimit : lowerLimit);\n }\n }\n syncMeshWithImpostor(mesh, impostor) {\n const body = impostor.physicsBody;\n mesh.position.x = body.position.x;\n mesh.position.y = body.position.y;\n mesh.position.z = body.position.z;\n if (mesh.rotationQuaternion) {\n mesh.rotationQuaternion.x = body.orientation.x;\n mesh.rotationQuaternion.y = body.orientation.y;\n mesh.rotationQuaternion.z = body.orientation.z;\n mesh.rotationQuaternion.w = body.orientation.w;\n }\n }\n getRadius(impostor) {\n return impostor.physicsBody.shapes.radius;\n }\n getBoxSizeToRef(impostor, result) {\n const shape = impostor.physicsBody.shapes;\n result.x = shape.halfWidth * 2;\n result.y = shape.halfHeight * 2;\n result.z = shape.halfDepth * 2;\n }\n dispose() {\n this.world.clear();\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 * @returns PhysicsRaycastResult\n */\n raycast(from, to) {\n Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\n this._raycastResult.reset(from, to);\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 Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\n result.reset(from, to);\n 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