@croquet/microverse-library
Version:
An npm package version of Microverse
1,141 lines (1,083 loc) • 511 kB
JavaScript
"use strict";
(globalThis["webpackChunk_croquet_microverse"] = globalThis["webpackChunk_croquet_microverse"] || []).push([["vendors-node_modules_dimforge_rapier3d_rapier_js"],{
/***/ "./node_modules/@dimforge/rapier3d/coarena.js":
/*!****************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/coarena.js ***!
\****************************************************/
/***/ ((__unused_webpack_module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ Coarena: () => (/* binding */ Coarena)
/* harmony export */ });
class Coarena {
constructor() {
this.fconv = new Float64Array(1);
this.uconv = new Uint32Array(this.fconv.buffer);
this.data = new Array();
this.size = 0;
}
set(handle, data) {
let i = this.index(handle);
while (this.data.length <= i) {
this.data.push(null);
}
if (this.data[i] == null)
this.size += 1;
this.data[i] = data;
}
len() {
return this.size;
}
delete(handle) {
let i = this.index(handle);
if (i < this.data.length) {
if (this.data[i] != null)
this.size -= 1;
this.data[i] = null;
}
}
clear() {
this.data = new Array();
}
get(handle) {
let i = this.index(handle);
if (i < this.data.length) {
return this.data[i];
}
else {
return null;
}
}
forEach(f) {
for (const elt of this.data) {
if (elt != null)
f(elt);
}
}
getAll() {
return this.data.filter((elt) => elt != null);
}
index(handle) {
/// Extracts the index part of a handle (the lower 32 bits).
/// This is done by first injecting the handle into an Float64Array
/// which is itself injected into an Uint32Array (at construction time).
/// The 0-th value of the Uint32Array will become the `number` integer
/// representation of the lower 32 bits.
/// Also `this.uconv[1]` then contains the generation number as a `number`,
/// which we don’t really need.
this.fconv[0] = handle;
return this.uconv[0];
}
}
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/control/character_controller.js":
/*!*************************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/control/character_controller.js ***!
\*************************************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ CharacterCollision: () => (/* binding */ CharacterCollision),
/* harmony export */ KinematicCharacterController: () => (/* binding */ KinematicCharacterController)
/* harmony export */ });
/* harmony import */ var _raw__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ../raw */ "./node_modules/@dimforge/rapier3d/rapier_wasm3d_bg.js");
/* harmony import */ var _math__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ../math */ "./node_modules/@dimforge/rapier3d/math.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_raw__WEBPACK_IMPORTED_MODULE_0__, _math__WEBPACK_IMPORTED_MODULE_1__]);
([_raw__WEBPACK_IMPORTED_MODULE_0__, _math__WEBPACK_IMPORTED_MODULE_1__] = __webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__);
/**
* A collision between the character and an obstacle hit on its path.
*/
class CharacterCollision {
}
/**
* A character controller for controlling kinematic bodies and parentless colliders by hitting
* and sliding against obstacles.
*/
class KinematicCharacterController {
constructor(offset, params, bodies, colliders, queries) {
this.params = params;
this.bodies = bodies;
this.colliders = colliders;
this.queries = queries;
this.raw = new _raw__WEBPACK_IMPORTED_MODULE_0__.RawKinematicCharacterController(offset);
this.rawCharacterCollision = new _raw__WEBPACK_IMPORTED_MODULE_0__.RawCharacterCollision();
this._applyImpulsesToDynamicBodies = false;
this._characterMass = null;
}
/** @internal */
free() {
if (!!this.raw) {
this.raw.free();
this.rawCharacterCollision.free();
}
this.raw = undefined;
this.rawCharacterCollision = undefined;
}
/**
* The direction that goes "up". Used to determine where the floor is, and the floor’s angle.
*/
up() {
return this.raw.up();
}
/**
* Sets the direction that goes "up". Used to determine where the floor is, and the floor’s angle.
*/
setUp(vector) {
let rawVect = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.intoRaw(vector);
return this.raw.setUp(rawVect);
rawVect.free();
}
applyImpulsesToDynamicBodies() {
return this._applyImpulsesToDynamicBodies;
}
setApplyImpulsesToDynamicBodies(enabled) {
this._applyImpulsesToDynamicBodies = enabled;
}
/**
* Returns the custom value of the character mass, if it was set by `this.setCharacterMass`.
*/
characterMass() {
return this._characterMass;
}
/**
* Set the mass of the character to be used for impulse resolution if `self.applyImpulsesToDynamicBodies`
* is set to `true`.
*
* If no character mass is set explicitly (or if it is set to `null`) it is automatically assumed to be equal
* to the mass of the rigid-body the character collider is attached to; or equal to 0 if the character collider
* isn’t attached to any rigid-body.
*
* @param mass - The mass to set.
*/
setCharacterMass(mass) {
this._characterMass = mass;
}
/**
* A small gap to preserve between the character and its surroundings.
*
* This value should not be too large to avoid visual artifacts, but shouldn’t be too small
* (must not be zero) to improve numerical stability of the character controller.
*/
offset() {
return this.raw.offset();
}
/**
* Sets a small gap to preserve between the character and its surroundings.
*
* This value should not be too large to avoid visual artifacts, but shouldn’t be too small
* (must not be zero) to improve numerical stability of the character controller.
*/
setOffset(value) {
this.raw.setOffset(value);
}
/**
* Is sliding against obstacles enabled?
*/
slideEnabled() {
return this.raw.slideEnabled();
}
/**
* Enable or disable sliding against obstacles.
*/
setSlideEnabled(enabled) {
this.raw.setSlideEnabled(enabled);
}
/**
* The maximum step height a character can automatically step over.
*/
autostepMaxHeight() {
return this.raw.autostepMaxHeight();
}
/**
* The minimum width of free space that must be available after stepping on a stair.
*/
autostepMinWidth() {
return this.raw.autostepMinWidth();
}
/**
* Can the character automatically step over dynamic bodies too?
*/
autostepIncludesDynamicBodies() {
return this.raw.autostepIncludesDynamicBodies();
}
/**
* Is automatically stepping over small objects enabled?
*/
autostepEnabled() {
return this.raw.autostepEnabled();
}
/**
* Enabled automatically stepping over small objects.
*
* @param maxHeight - The maximum step height a character can automatically step over.
* @param minWidth - The minimum width of free space that must be available after stepping on a stair.
* @param includeDynamicBodies - Can the character automatically step over dynamic bodies too?
*/
enableAutostep(maxHeight, minWidth, includeDynamicBodies) {
this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies);
}
/**
* Disable automatically stepping over small objects.
*/
disableAutostep() {
return this.raw.disableAutostep();
}
/**
* The maximum angle (radians) between the floor’s normal and the `up` vector that the
* character is able to climb.
*/
maxSlopeClimbAngle() {
return this.raw.maxSlopeClimbAngle();
}
/**
* Sets the maximum angle (radians) between the floor’s normal and the `up` vector that the
* character is able to climb.
*/
setMaxSlopeClimbAngle(angle) {
this.raw.setMaxSlopeClimbAngle(angle);
}
/**
* The minimum angle (radians) between the floor’s normal and the `up` vector before the
* character starts to slide down automatically.
*/
minSlopeSlideAngle() {
return this.raw.minSlopeSlideAngle();
}
/**
* Sets the minimum angle (radians) between the floor’s normal and the `up` vector before the
* character starts to slide down automatically.
*/
setMinSlopeSlideAngle(angle) {
this.raw.setMinSlopeSlideAngle(angle);
}
/**
* If snap-to-ground is enabled, should the character be automatically snapped to the ground if
* the distance between the ground and its feet are smaller than the specified threshold?
*/
snapToGroundDistance() {
return this.raw.snapToGroundDistance();
}
/**
* Enables automatically snapping the character to the ground if the distance between
* the ground and its feet are smaller than the specified threshold.
*/
enableSnapToGround(distance) {
this.raw.enableSnapToGround(distance);
}
/**
* Disables automatically snapping the character to the ground.
*/
disableSnapToGround() {
this.raw.disableSnapToGround();
}
/**
* Is automatically snapping the character to the ground enabled?
*/
snapToGroundEnabled() {
return this.raw.snapToGroundEnabled();
}
/**
* Computes the movement the given collider is able to execute after hitting and sliding on obstacles.
*
* @param collider - The collider to move.
* @param desiredTranslation - The desired collider movement.
* @param filterFlags - Flags for excluding whole subsets of colliders from the obstacles taken into account.
* @param filterGroups - Groups for excluding colliders with incompatible collision groups from the obstacles
* taken into account.
* @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the
* obstacles taken into account.
*/
computeColliderMovement(collider, desiredTranslation, filterFlags, filterGroups, filterPredicate) {
let rawTranslation = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.intoRaw(desiredTranslation);
this.raw.computeColliderMovement(this.params.dt, this.bodies.raw, this.colliders.raw, this.queries.raw, collider.handle, rawTranslation, this._applyImpulsesToDynamicBodies, this._characterMass, filterFlags, filterGroups, this.colliders.castClosure(filterPredicate));
rawTranslation.free();
}
/**
* The movement computed by the last call to `this.computeColliderMovement`.
*/
computedMovement() {
return _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(this.raw.computedMovement());
}
/**
* The result of ground detection computed by the last call to `this.computeColliderMovement`.
*/
computedGrounded() {
return this.raw.computedGrounded();
}
/**
* The number of collisions against obstacles detected along the path of the last call
* to `this.computeColliderMovement`.
*/
numComputedCollisions() {
return this.raw.numComputedCollisions();
}
/**
* Returns the collision against one of the obstacles detected along the path of the last
* call to `this.computeColliderMovement`.
*
* @param i - The i-th collision will be returned.
* @param out - If this argument is set, it will be filled with the collision information.
*/
computedCollision(i, out) {
if (!this.raw.computedCollision(i, this.rawCharacterCollision)) {
return null;
}
else {
let c = this.rawCharacterCollision;
out = out !== null && out !== void 0 ? out : new CharacterCollision();
out.translationApplied = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(c.translationApplied());
out.translationRemaining = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(c.translationRemaining());
out.toi = c.toi();
out.witness1 = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(c.worldWitness1());
out.witness2 = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(c.worldWitness2());
out.normal1 = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(c.worldNormal1());
out.normal2 = _math__WEBPACK_IMPORTED_MODULE_1__.VectorOps.fromRaw(c.worldNormal2());
out.collider = this.colliders.get(c.handle());
return out;
}
}
}
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/control/index.js":
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!*** ./node_modules/@dimforge/rapier3d/control/index.js ***!
\**********************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ CharacterCollision: () => (/* reexport safe */ _character_controller__WEBPACK_IMPORTED_MODULE_0__.CharacterCollision),
/* harmony export */ KinematicCharacterController: () => (/* reexport safe */ _character_controller__WEBPACK_IMPORTED_MODULE_0__.KinematicCharacterController)
/* harmony export */ });
/* harmony import */ var _character_controller__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./character_controller */ "./node_modules/@dimforge/rapier3d/control/character_controller.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_character_controller__WEBPACK_IMPORTED_MODULE_0__]);
_character_controller__WEBPACK_IMPORTED_MODULE_0__ = (__webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__)[0];
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/ccd_solver.js":
/*!****************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/ccd_solver.js ***!
\****************************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ CCDSolver: () => (/* binding */ CCDSolver)
/* harmony export */ });
/* harmony import */ var _raw__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ../raw */ "./node_modules/@dimforge/rapier3d/rapier_wasm3d_bg.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_raw__WEBPACK_IMPORTED_MODULE_0__]);
_raw__WEBPACK_IMPORTED_MODULE_0__ = (__webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__)[0];
/**
* The CCD solver responsible for resolving Continuous Collision Detection.
*
* To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`
* once you are done using it.
*/
class CCDSolver {
constructor(raw) {
this.raw = raw || new _raw__WEBPACK_IMPORTED_MODULE_0__.RawCCDSolver();
}
/**
* Release the WASM memory occupied by this narrow-phase.
*/
free() {
if (!!this.raw) {
this.raw.free();
}
this.raw = undefined;
}
}
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/coefficient_combine_rule.js":
/*!******************************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/coefficient_combine_rule.js ***!
\******************************************************************************/
/***/ ((__unused_webpack_module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ CoefficientCombineRule: () => (/* binding */ CoefficientCombineRule)
/* harmony export */ });
/**
* A rule applied to combine coefficients.
*
* Use this when configuring the `ColliderDesc` to specify
* how friction and restitution coefficient should be combined
* in a contact.
*/
var CoefficientCombineRule;
(function (CoefficientCombineRule) {
CoefficientCombineRule[CoefficientCombineRule["Average"] = 0] = "Average";
CoefficientCombineRule[CoefficientCombineRule["Min"] = 1] = "Min";
CoefficientCombineRule[CoefficientCombineRule["Multiply"] = 2] = "Multiply";
CoefficientCombineRule[CoefficientCombineRule["Max"] = 3] = "Max";
})(CoefficientCombineRule || (CoefficientCombineRule = {}));
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/impulse_joint.js":
/*!*******************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/impulse_joint.js ***!
\*******************************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ FixedImpulseJoint: () => (/* binding */ FixedImpulseJoint),
/* harmony export */ ImpulseJoint: () => (/* binding */ ImpulseJoint),
/* harmony export */ JointData: () => (/* binding */ JointData),
/* harmony export */ JointType: () => (/* binding */ JointType),
/* harmony export */ MotorModel: () => (/* binding */ MotorModel),
/* harmony export */ PrismaticImpulseJoint: () => (/* binding */ PrismaticImpulseJoint),
/* harmony export */ RevoluteImpulseJoint: () => (/* binding */ RevoluteImpulseJoint),
/* harmony export */ SphericalImpulseJoint: () => (/* binding */ SphericalImpulseJoint),
/* harmony export */ UnitImpulseJoint: () => (/* binding */ UnitImpulseJoint)
/* harmony export */ });
/* harmony import */ var _math__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ../math */ "./node_modules/@dimforge/rapier3d/math.js");
/* harmony import */ var _raw__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ../raw */ "./node_modules/@dimforge/rapier3d/rapier_wasm3d_bg.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_math__WEBPACK_IMPORTED_MODULE_0__, _raw__WEBPACK_IMPORTED_MODULE_1__]);
([_math__WEBPACK_IMPORTED_MODULE_0__, _raw__WEBPACK_IMPORTED_MODULE_1__] = __webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__);
/**
* An enum grouping all possible types of joints:
*
* - `Revolute`: A revolute joint that removes all degrees of freedom between the affected
* bodies except for the rotation along one axis.
* - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
* - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
* bodies except for the translation along one axis.
* - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.
*/
var JointType;
(function (JointType) {
JointType[JointType["Revolute"] = 0] = "Revolute";
JointType[JointType["Fixed"] = 1] = "Fixed";
JointType[JointType["Prismatic"] = 2] = "Prismatic";
// #if DIM3
JointType[JointType["Spherical"] = 3] = "Spherical";
// #endif
})(JointType || (JointType = {}));
var MotorModel;
(function (MotorModel) {
MotorModel[MotorModel["AccelerationBased"] = 0] = "AccelerationBased";
MotorModel[MotorModel["ForceBased"] = 1] = "ForceBased";
})(MotorModel || (MotorModel = {}));
class ImpulseJoint {
constructor(rawSet, bodySet, handle) {
this.rawSet = rawSet;
this.bodySet = bodySet;
this.handle = handle;
}
static newTyped(rawSet, bodySet, handle) {
switch (rawSet.jointType(handle)) {
case JointType.Revolute:
return new RevoluteImpulseJoint(rawSet, bodySet, handle);
case JointType.Prismatic:
return new PrismaticImpulseJoint(rawSet, bodySet, handle);
case JointType.Fixed:
return new FixedImpulseJoint(rawSet, bodySet, handle);
// #if DIM3
case JointType.Spherical:
return new SphericalImpulseJoint(rawSet, bodySet, handle);
// #endif
default:
return new ImpulseJoint(rawSet, bodySet, handle);
}
}
/** @internal */
finalizeDeserialization(bodySet) {
this.bodySet = bodySet;
}
/**
* Checks if this joint is still valid (i.e. that it has
* not been deleted from the joint set yet).
*/
isValid() {
return this.rawSet.contains(this.handle);
}
/**
* The first rigid-body this joint it attached to.
*/
body1() {
return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle));
}
/**
* The second rigid-body this joint is attached to.
*/
body2() {
return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle));
}
/**
* The type of this joint given as a string.
*/
type() {
return this.rawSet.jointType(this.handle);
}
// #if DIM3
/**
* The rotation quaternion that aligns this joint's first local axis to the `x` axis.
*/
frameX1() {
return _math__WEBPACK_IMPORTED_MODULE_0__.RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
}
// #endif
// #if DIM3
/**
* The rotation matrix that aligns this joint's second local axis to the `x` axis.
*/
frameX2() {
return _math__WEBPACK_IMPORTED_MODULE_0__.RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
}
// #endif
/**
* The position of the first anchor of this joint.
*
* The first anchor gives the position of the application point on the
* local frame of the first rigid-body it is attached to.
*/
anchor1() {
return _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
}
/**
* The position of the second anchor of this joint.
*
* The second anchor gives the position of the application point on the
* local frame of the second rigid-body it is attached to.
*/
anchor2() {
return _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
}
/**
* Sets the position of the first anchor of this joint.
*
* The first anchor gives the position of the application point on the
* local frame of the first rigid-body it is attached to.
*/
setAnchor1(newPos) {
const rawPoint = _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.intoRaw(newPos);
this.rawSet.jointSetAnchor1(this.handle, rawPoint);
rawPoint.free();
}
/**
* Sets the position of the second anchor of this joint.
*
* The second anchor gives the position of the application point on the
* local frame of the second rigid-body it is attached to.
*/
setAnchor2(newPos) {
const rawPoint = _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.intoRaw(newPos);
this.rawSet.jointSetAnchor2(this.handle, rawPoint);
rawPoint.free();
}
/**
* Controls whether contacts are computed between colliders attached
* to the rigid-bodies linked by this joint.
*/
setContactsEnabled(enabled) {
this.rawSet.jointSetContactsEnabled(this.handle, enabled);
}
/**
* Indicates if contacts are enabled between colliders attached
* to the rigid-bodies linked by this joint.
*/
contactsEnabled() {
return this.rawSet.jointContactsEnabled(this.handle);
}
}
class UnitImpulseJoint extends ImpulseJoint {
/**
* Are the limits enabled for this joint?
*/
limitsEnabled() {
return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
}
/**
* The min limit of this joint.
*/
limitsMin() {
return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
}
/**
* The max limit of this joint.
*/
limitsMax() {
return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
}
/**
* Sets the limits of this joint.
*
* @param min - The minimum bound of this joint’s free coordinate.
* @param max - The maximum bound of this joint’s free coordinate.
*/
setLimits(min, max) {
this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);
}
configureMotorModel(model) {
this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model);
}
configureMotorVelocity(targetVel, factor) {
this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);
}
configureMotorPosition(targetPos, stiffness, damping) {
this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping);
}
configureMotor(targetPos, targetVel, stiffness, damping) {
this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping);
}
}
class FixedImpulseJoint extends ImpulseJoint {
}
class PrismaticImpulseJoint extends UnitImpulseJoint {
rawAxis() {
return _raw__WEBPACK_IMPORTED_MODULE_1__.RawJointAxis.X;
}
}
class RevoluteImpulseJoint extends UnitImpulseJoint {
rawAxis() {
return _raw__WEBPACK_IMPORTED_MODULE_1__.RawJointAxis.AngX;
}
}
// #if DIM3
class SphericalImpulseJoint extends ImpulseJoint {
}
// #endif
class JointData {
constructor() { }
/**
* Creates a new joint descriptor that builds a Fixed joint.
*
* A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
* anchor and local frames coincide in world-space.
*
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
*/
static fixed(anchor1, frame1, anchor2, frame2) {
let res = new JointData();
res.anchor1 = anchor1;
res.anchor2 = anchor2;
res.frame1 = frame1;
res.frame2 = frame2;
res.jointType = JointType.Fixed;
return res;
}
// #if DIM3
/**
* Create a new joint descriptor that builds spherical joints.
*
* A spherical joint allows three relative rotational degrees of freedom
* by preventing any relative translation between the anchors of the
* two attached rigid-bodies.
*
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
*/
static spherical(anchor1, anchor2) {
let res = new JointData();
res.anchor1 = anchor1;
res.anchor2 = anchor2;
res.jointType = JointType.Spherical;
return res;
}
/**
* Creates a new joint descriptor that builds a Prismatic joint.
*
* A prismatic joint removes all the degrees of freedom between the
* affected bodies, except for the translation along one axis.
*
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
*/
static prismatic(anchor1, anchor2, axis) {
let res = new JointData();
res.anchor1 = anchor1;
res.anchor2 = anchor2;
res.axis = axis;
res.jointType = JointType.Prismatic;
return res;
}
/**
* Create a new joint descriptor that builds Revolute joints.
*
* A revolute joint removes all degrees of freedom between the affected
* bodies except for the rotation along one axis.
*
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
* local-space of the rigid-body.
* @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
*/
static revolute(anchor1, anchor2, axis) {
let res = new JointData();
res.anchor1 = anchor1;
res.anchor2 = anchor2;
res.axis = axis;
res.jointType = JointType.Revolute;
return res;
}
// #endif
intoRaw() {
let rawA1 = _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.intoRaw(this.anchor1);
let rawA2 = _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.intoRaw(this.anchor2);
let rawAx;
let result;
let limitsEnabled = false;
let limitsMin = 0.0;
let limitsMax = 0.0;
switch (this.jointType) {
case JointType.Fixed:
let rawFra1 = _math__WEBPACK_IMPORTED_MODULE_0__.RotationOps.intoRaw(this.frame1);
let rawFra2 = _math__WEBPACK_IMPORTED_MODULE_0__.RotationOps.intoRaw(this.frame2);
result = _raw__WEBPACK_IMPORTED_MODULE_1__.RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2);
rawFra1.free();
rawFra2.free();
break;
case JointType.Prismatic:
rawAx = _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.intoRaw(this.axis);
if (!!this.limitsEnabled) {
limitsEnabled = true;
limitsMin = this.limits[0];
limitsMax = this.limits[1];
}
// #if DIM3
result = _raw__WEBPACK_IMPORTED_MODULE_1__.RawGenericJoint.prismatic(rawA1, rawA2, rawAx, limitsEnabled, limitsMin, limitsMax);
// #endif
rawAx.free();
break;
// #if DIM3
case JointType.Spherical:
result = _raw__WEBPACK_IMPORTED_MODULE_1__.RawGenericJoint.spherical(rawA1, rawA2);
break;
case JointType.Revolute:
rawAx = _math__WEBPACK_IMPORTED_MODULE_0__.VectorOps.intoRaw(this.axis);
result = _raw__WEBPACK_IMPORTED_MODULE_1__.RawGenericJoint.revolute(rawA1, rawA2, rawAx);
rawAx.free();
break;
// #endif
}
rawA1.free();
rawA2.free();
return result;
}
}
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/impulse_joint_set.js":
/*!***********************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/impulse_joint_set.js ***!
\***********************************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ ImpulseJointSet: () => (/* binding */ ImpulseJointSet)
/* harmony export */ });
/* harmony import */ var _raw__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ../raw */ "./node_modules/@dimforge/rapier3d/rapier_wasm3d_bg.js");
/* harmony import */ var _coarena__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ../coarena */ "./node_modules/@dimforge/rapier3d/coarena.js");
/* harmony import */ var _impulse_joint__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./impulse_joint */ "./node_modules/@dimforge/rapier3d/dynamics/impulse_joint.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_raw__WEBPACK_IMPORTED_MODULE_0__, _impulse_joint__WEBPACK_IMPORTED_MODULE_2__]);
([_raw__WEBPACK_IMPORTED_MODULE_0__, _impulse_joint__WEBPACK_IMPORTED_MODULE_2__] = __webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__);
/**
* A set of joints.
*
* To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`
* once you are done using it (and all the joints it created).
*/
class ImpulseJointSet {
constructor(raw) {
this.raw = raw || new _raw__WEBPACK_IMPORTED_MODULE_0__.RawImpulseJointSet();
this.map = new _coarena__WEBPACK_IMPORTED_MODULE_1__.Coarena();
// Initialize the map with the existing elements, if any.
if (raw) {
raw.forEachJointHandle((handle) => {
this.map.set(handle, _impulse_joint__WEBPACK_IMPORTED_MODULE_2__.ImpulseJoint.newTyped(raw, null, handle));
});
}
}
/**
* Release the WASM memory occupied by this joint set.
*/
free() {
if (!!this.raw) {
this.raw.free();
}
this.raw = undefined;
if (!!this.map) {
this.map.clear();
}
this.map = undefined;
}
/** @internal */
finalizeDeserialization(bodies) {
this.map.forEach((joint) => joint.finalizeDeserialization(bodies));
}
/**
* Creates a new joint and return its integer handle.
*
* @param bodies - The set of rigid-bodies containing the bodies the joint is attached to.
* @param desc - The joint's parameters.
* @param parent1 - The handle of the first rigid-body this joint is attached to.
* @param parent2 - The handle of the second rigid-body this joint is attached to.
* @param wakeUp - Should the attached rigid-bodies be awakened?
*/
createJoint(bodies, desc, parent1, parent2, wakeUp) {
const rawParams = desc.intoRaw();
const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp);
rawParams.free();
let joint = _impulse_joint__WEBPACK_IMPORTED_MODULE_2__.ImpulseJoint.newTyped(this.raw, bodies, handle);
this.map.set(handle, joint);
return joint;
}
/**
* Remove a joint from this set.
*
* @param handle - The integer handle of the joint.
* @param wakeUp - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
*/
remove(handle, wakeUp) {
this.raw.remove(handle, wakeUp);
this.unmap(handle);
}
/**
* Calls the given closure with the integer handle of each impulse joint attached to this rigid-body.
*
* @param f - The closure called with the integer handle of each impulse joint attached to the rigid-body.
*/
forEachJointHandleAttachedToRigidBody(handle, f) {
this.raw.forEachJointAttachedToRigidBody(handle, f);
}
/**
* Internal function, do not call directly.
* @param handle
*/
unmap(handle) {
this.map.delete(handle);
}
/**
* The number of joints on this set.
*/
len() {
return this.map.len();
}
/**
* Does this set contain a joint with the given handle?
*
* @param handle - The joint handle to check.
*/
contains(handle) {
return this.get(handle) != null;
}
/**
* Gets the joint with the given handle.
*
* Returns `null` if no joint with the specified handle exists.
*
* @param handle - The integer handle of the joint to retrieve.
*/
get(handle) {
return this.map.get(handle);
}
/**
* Applies the given closure to each joint contained by this set.
*
* @param f - The closure to apply.
*/
forEach(f) {
this.map.forEach(f);
}
/**
* Gets all joints in the list.
*
* @returns joint list.
*/
getAll() {
return this.map.getAll();
}
}
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/index.js":
/*!***********************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/index.js ***!
\***********************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ CCDSolver: () => (/* reexport safe */ _ccd_solver__WEBPACK_IMPORTED_MODULE_8__.CCDSolver),
/* harmony export */ CoefficientCombineRule: () => (/* reexport safe */ _coefficient_combine_rule__WEBPACK_IMPORTED_MODULE_7__.CoefficientCombineRule),
/* harmony export */ FixedImpulseJoint: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.FixedImpulseJoint),
/* harmony export */ FixedMultibodyJoint: () => (/* reexport safe */ _multibody_joint__WEBPACK_IMPORTED_MODULE_5__.FixedMultibodyJoint),
/* harmony export */ ImpulseJoint: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.ImpulseJoint),
/* harmony export */ ImpulseJointSet: () => (/* reexport safe */ _impulse_joint_set__WEBPACK_IMPORTED_MODULE_4__.ImpulseJointSet),
/* harmony export */ IntegrationParameters: () => (/* reexport safe */ _integration_parameters__WEBPACK_IMPORTED_MODULE_2__.IntegrationParameters),
/* harmony export */ IslandManager: () => (/* reexport safe */ _island_manager__WEBPACK_IMPORTED_MODULE_9__.IslandManager),
/* harmony export */ JointData: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.JointData),
/* harmony export */ JointType: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.JointType),
/* harmony export */ MotorModel: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.MotorModel),
/* harmony export */ MultibodyJoint: () => (/* reexport safe */ _multibody_joint__WEBPACK_IMPORTED_MODULE_5__.MultibodyJoint),
/* harmony export */ MultibodyJointSet: () => (/* reexport safe */ _multibody_joint_set__WEBPACK_IMPORTED_MODULE_6__.MultibodyJointSet),
/* harmony export */ PrismaticImpulseJoint: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.PrismaticImpulseJoint),
/* harmony export */ PrismaticMultibodyJoint: () => (/* reexport safe */ _multibody_joint__WEBPACK_IMPORTED_MODULE_5__.PrismaticMultibodyJoint),
/* harmony export */ RevoluteImpulseJoint: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.RevoluteImpulseJoint),
/* harmony export */ RevoluteMultibodyJoint: () => (/* reexport safe */ _multibody_joint__WEBPACK_IMPORTED_MODULE_5__.RevoluteMultibodyJoint),
/* harmony export */ RigidBody: () => (/* reexport safe */ _rigid_body__WEBPACK_IMPORTED_MODULE_0__.RigidBody),
/* harmony export */ RigidBodyDesc: () => (/* reexport safe */ _rigid_body__WEBPACK_IMPORTED_MODULE_0__.RigidBodyDesc),
/* harmony export */ RigidBodySet: () => (/* reexport safe */ _rigid_body_set__WEBPACK_IMPORTED_MODULE_1__.RigidBodySet),
/* harmony export */ RigidBodyType: () => (/* reexport safe */ _rigid_body__WEBPACK_IMPORTED_MODULE_0__.RigidBodyType),
/* harmony export */ SphericalImpulseJoint: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.SphericalImpulseJoint),
/* harmony export */ SphericalMultibodyJoint: () => (/* reexport safe */ _multibody_joint__WEBPACK_IMPORTED_MODULE_5__.SphericalMultibodyJoint),
/* harmony export */ UnitImpulseJoint: () => (/* reexport safe */ _impulse_joint__WEBPACK_IMPORTED_MODULE_3__.UnitImpulseJoint),
/* harmony export */ UnitMultibodyJoint: () => (/* reexport safe */ _multibody_joint__WEBPACK_IMPORTED_MODULE_5__.UnitMultibodyJoint)
/* harmony export */ });
/* harmony import */ var _rigid_body__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./rigid_body */ "./node_modules/@dimforge/rapier3d/dynamics/rigid_body.js");
/* harmony import */ var _rigid_body_set__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./rigid_body_set */ "./node_modules/@dimforge/rapier3d/dynamics/rigid_body_set.js");
/* harmony import */ var _integration_parameters__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./integration_parameters */ "./node_modules/@dimforge/rapier3d/dynamics/integration_parameters.js");
/* harmony import */ var _impulse_joint__WEBPACK_IMPORTED_MODULE_3__ = __webpack_require__(/*! ./impulse_joint */ "./node_modules/@dimforge/rapier3d/dynamics/impulse_joint.js");
/* harmony import */ var _impulse_joint_set__WEBPACK_IMPORTED_MODULE_4__ = __webpack_require__(/*! ./impulse_joint_set */ "./node_modules/@dimforge/rapier3d/dynamics/impulse_joint_set.js");
/* harmony import */ var _multibody_joint__WEBPACK_IMPORTED_MODULE_5__ = __webpack_require__(/*! ./multibody_joint */ "./node_modules/@dimforge/rapier3d/dynamics/multibody_joint.js");
/* harmony import */ var _multibody_joint_set__WEBPACK_IMPORTED_MODULE_6__ = __webpack_require__(/*! ./multibody_joint_set */ "./node_modules/@dimforge/rapier3d/dynamics/multibody_joint_set.js");
/* harmony import */ var _coefficient_combine_rule__WEBPACK_IMPORTED_MODULE_7__ = __webpack_require__(/*! ./coefficient_combine_rule */ "./node_modules/@dimforge/rapier3d/dynamics/coefficient_combine_rule.js");
/* harmony import */ var _ccd_solver__WEBPACK_IMPORTED_MODULE_8__ = __webpack_require__(/*! ./ccd_solver */ "./node_modules/@dimforge/rapier3d/dynamics/ccd_solver.js");
/* harmony import */ var _island_manager__WEBPACK_IMPORTED_MODULE_9__ = __webpack_require__(/*! ./island_manager */ "./node_modules/@dimforge/rapier3d/dynamics/island_manager.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_rigid_body__WEBPACK_IMPORTED_MODULE_0__, _rigid_body_set__WEBPACK_IMPORTED_MODULE_1__, _integration_parameters__WEBPACK_IMPORTED_MODULE_2__, _impulse_joint__WEBPACK_IMPORTED_MODULE_3__, _impulse_joint_set__WEBPACK_IMPORTED_MODULE_4__, _multibody_joint__WEBPACK_IMPORTED_MODULE_5__, _multibody_joint_set__WEBPACK_IMPORTED_MODULE_6__, _ccd_solver__WEBPACK_IMPORTED_MODULE_8__, _island_manager__WEBPACK_IMPORTED_MODULE_9__]);
([_rigid_body__WEBPACK_IMPORTED_MODULE_0__, _rigid_body_set__WEBPACK_IMPORTED_MODULE_1__, _integration_parameters__WEBPACK_IMPORTED_MODULE_2__, _impulse_joint__WEBPACK_IMPORTED_MODULE_3__, _impulse_joint_set__WEBPACK_IMPORTED_MODULE_4__, _multibody_joint__WEBPACK_IMPORTED_MODULE_5__, _multibody_joint_set__WEBPACK_IMPORTED_MODULE_6__, _ccd_solver__WEBPACK_IMPORTED_MODULE_8__, _island_manager__WEBPACK_IMPORTED_MODULE_9__] = __webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__);
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/integration_parameters.js":
/*!****************************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/integration_parameters.js ***!
\****************************************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ IntegrationParameters: () => (/* binding */ IntegrationParameters)
/* harmony export */ });
/* harmony import */ var _raw__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ../raw */ "./node_modules/@dimforge/rapier3d/rapier_wasm3d_bg.js");
var __webpack_async_dependencies__ = __webpack_handle_async_dependencies__([_raw__WEBPACK_IMPORTED_MODULE_0__]);
_raw__WEBPACK_IMPORTED_MODULE_0__ = (__webpack_async_dependencies__.then ? (await __webpack_async_dependencies__)() : __webpack_async_dependencies__)[0];
class IntegrationParameters {
constructor(raw) {
this.raw = raw || new _raw__WEBPACK_IMPORTED_MODULE_0__.RawIntegrationParameters();
}
/**
* Free the WASM memory used by these integration parameters.
*/
free() {
if (!!this.raw) {
this.raw.free();
}
this.raw = undefined;
}
/**
* The timestep length (default: `1.0 / 60.0`)
*/
get dt() {
return this.raw.dt;
}
/**
* The Error Reduction Parameter in `[0, 1]` is the proportion of
* the positional error to be corrected at each time step (default: `0.2`).
*/
get erp() {
return this.raw.erp;
}
/**
* Amount of penetration the engine wont attempt to correct (default: `0.001m`).
*/
get allowedLinearError() {
return this.raw.allowedLinearError;
}
/**
* The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
*/
get predictionDistance() {
return this.raw.predictionDistance;
}
/**
* Maximum number of iterations performed by the velocity constraints solver (default: `4`).
*/
get maxVelocityIterations() {
return this.raw.maxVelocityIterations;
}
/**
* Maximum number of friction iterations performed by the position-based constraints solver (default: `1`).
*/
get maxVelocityFrictionIterations() {
return this.raw.maxVelocityFrictionIterations;
}
/**
* Maximum number of stabilization iterations performed by the position-based constraints solver (default: `1`).
*/
get maxStabilizationIterations() {
return this.raw.maxStabilizationIterations;
}
/**
* Minimum number of dynamic bodies in each active island (default: `128`).
*/
get minIslandSize() {
return this.raw.minIslandSize;
}
/**
* Maximum number of substeps performed by the solver (default: `1`).
*/
get maxCcdSubsteps() {
return this.raw.maxCcdSubsteps;
}
set dt(value) {
this.raw.dt = value;
}
set erp(value) {
this.raw.erp = value;
}
set allowedLinearError(value) {
this.raw.allowedLinearError = value;
}
set predictionDistance(value) {
this.raw.predictionDistance = value;
}
set maxVelocityIterations(value) {
this.raw.maxVelocityIterations = value;
}
set maxVelocityFrictionIterations(value) {
this.raw.maxVelocityFrictionIterations = value;
}
set maxStabilizationIterations(value) {
this.raw.maxStabilizationIterations = value;
}
set minIslandSize(value) {
this.raw.minIslandSize = value;
}
set maxCcdSubsteps(value) {
this.raw.maxCcdSubsteps = value;
}
}
__webpack_async_result__();
} catch(e) { __webpack_async_result__(e); } });
/***/ }),
/***/ "./node_modules/@dimforge/rapier3d/dynamics/island_manager.js":
/*!********************************************************************!*\
!*** ./node_modules/@dimforge/rapier3d/dynamics/island_manager.js ***!
\********************************************************************/
/***/ ((module, __webpack_exports__, __webpack_require__) => {
__webpack_require__.a(module, async (__webpack_handle_async_dependencies__, __webpack_async_result__) => { try {
__webpack_require__.r(__webpack_exports__);
/* harmony export */ __webpack_require__.d(__webpack_exports__, {
/* harmony export */ IslandManager: () => (/* binding */ IslandManager)
/* harmony expor