@dimforge/rapier3d
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3-dimensional physics engine in Rust - official JS bindings.
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text/typescript
import {RawColliderSet} from "../raw";
import {Rotation, RotationOps, Vector, VectorOps} from "../math";
import {
CoefficientCombineRule,
RigidBody,
RigidBodyHandle,
RigidBodySet,
} from "../dynamics";
import {ActiveHooks, ActiveEvents} from "../pipeline";
import {InteractionGroups} from "./interaction_groups";
import {
Shape,
Cuboid,
Ball,
ShapeType,
Capsule,
Voxels,
TriMesh,
Polyline,
Heightfield,
Segment,
Triangle,
RoundTriangle,
RoundCuboid,
HalfSpace,
TriMeshFlags,
// #if DIM3
Cylinder,
RoundCylinder,
Cone,
RoundCone,
ConvexPolyhedron,
RoundConvexPolyhedron,
HeightFieldFlags,
// #endif
} from "./shape";
import {Ray, RayIntersection} from "./ray";
import {PointProjection} from "./point";
import {ColliderShapeCastHit, ShapeCastHit} from "./toi";
import {ShapeContact} from "./contact";
import {ColliderSet} from "./collider_set";
/**
* Flags affecting whether collision-detection happens between two colliders
* depending on the type of rigid-bodies they are attached to.
*/
export enum ActiveCollisionTypes {
/**
* Enable collision-detection between a collider attached to a dynamic body
* and another collider attached to a dynamic body.
*/
DYNAMIC_DYNAMIC = 0b0000_0000_0000_0001,
/**
* Enable collision-detection between a collider attached to a dynamic body
* and another collider attached to a kinematic body.
*/
DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100,
/**
* Enable collision-detection between a collider attached to a dynamic body
* and another collider attached to a fixed body (or not attached to any body).
*/
DYNAMIC_FIXED = 0b0000_0000_0000_0010,
/**
* Enable collision-detection between a collider attached to a kinematic body
* and another collider attached to a kinematic body.
*/
KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000,
/**
* Enable collision-detection between a collider attached to a kinematic body
* and another collider attached to a fixed body (or not attached to any body).
*/
KINEMATIC_FIXED = 0b0010_0010_0000_0000,
/**
* Enable collision-detection between a collider attached to a fixed body (or
* not attached to any body) and another collider attached to a fixed body (or
* not attached to any body).
*/
FIXED_FIXED = 0b0000_0000_0010_0000,
/**
* The default active collision types, enabling collisions between a dynamic body
* and another body of any type, but not enabling collisions between two non-dynamic bodies.
*/
DEFAULT = DYNAMIC_KINEMATIC | DYNAMIC_DYNAMIC | DYNAMIC_FIXED,
/**
* Enable collisions between any kind of rigid-bodies (including between two non-dynamic bodies).
*/
ALL = DYNAMIC_KINEMATIC |
DYNAMIC_DYNAMIC |
DYNAMIC_FIXED |
KINEMATIC_KINEMATIC |
KINEMATIC_FIXED |
KINEMATIC_KINEMATIC,
}
/**
* The integer identifier of a collider added to a `ColliderSet`.
*/
export type ColliderHandle = number;
/**
* A geometric entity that can be attached to a body so it can be affected
* by contacts and proximity queries.
*/
export class Collider {
private colliderSet: ColliderSet; // The Collider won't need to free this.
readonly handle: ColliderHandle;
private _shape: Shape; // TODO: deprecate/remove this since it isn’t a reliable way of getting the latest shape properties.
private _parent: RigidBody | null;
constructor(
colliderSet: ColliderSet,
handle: ColliderHandle,
parent: RigidBody | null,
shape?: Shape,
) {
this.colliderSet = colliderSet;
this.handle = handle;
this._parent = parent;
this._shape = shape;
}
/** @internal */
public finalizeDeserialization(bodies: RigidBodySet) {
if (this.handle != null) {
this._parent = bodies.get(
this.colliderSet.raw.coParent(this.handle),
);
}
}
private ensureShapeIsCached() {
if (!this._shape)
this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle);
}
/**
* The shape of this collider.
*/
public get shape(): Shape {
this.ensureShapeIsCached();
return this._shape;
}
/**
* Set the internal cached JS shape to null.
*
* This can be useful if you want to free some memory (assuming you are not
* holding any other references to the shape object), or in order to force
* the recalculation of the JS shape (the next time the `shape` getter is
* accessed) from the WASM source of truth.
*/
public clearShapeCache() {
this._shape = null;
}
/**
* Checks if this collider is still valid (i.e. that it has
* not been deleted from the collider set yet).
*/
public isValid(): boolean {
return this.colliderSet.raw.contains(this.handle);
}
/**
* The world-space translation of this collider.
*/
public translation(): Vector {
return VectorOps.fromRaw(
this.colliderSet.raw.coTranslation(this.handle),
);
}
/**
* The translation of this collider relative to its parent rigid-body.
*
* Returns `null` if the collider doesn’t have a parent rigid-body.
*/
public translationWrtParent(): Vector | null {
return VectorOps.fromRaw(
this.colliderSet.raw.coTranslationWrtParent(this.handle),
);
}
/**
* The world-space orientation of this collider.
*/
public rotation(): Rotation {
return RotationOps.fromRaw(
this.colliderSet.raw.coRotation(this.handle),
);
}
/**
* The orientation of this collider relative to its parent rigid-body.
*
* Returns `null` if the collider doesn’t have a parent rigid-body.
*/
public rotationWrtParent(): Rotation | null {
return RotationOps.fromRaw(
this.colliderSet.raw.coRotationWrtParent(this.handle),
);
}
/**
* Is this collider a sensor?
*/
public isSensor(): boolean {
return this.colliderSet.raw.coIsSensor(this.handle);
}
/**
* Sets whether this collider is a sensor.
* @param isSensor - If `true`, the collider will be a sensor.
*/
public setSensor(isSensor: boolean) {
this.colliderSet.raw.coSetSensor(this.handle, isSensor);
}
/**
* Sets the new shape of the collider.
* @param shape - The collider’s new shape.
*/
public setShape(shape: Shape) {
let rawShape = shape.intoRaw();
this.colliderSet.raw.coSetShape(this.handle, rawShape);
rawShape.free();
this._shape = shape;
}
/**
* Sets whether this collider is enabled or not.
*
* @param enabled - Set to `false` to disable this collider (its parent rigid-body won’t be disabled automatically by this).
*/
public setEnabled(enabled: boolean) {
this.colliderSet.raw.coSetEnabled(this.handle, enabled);
}
/**
* Is this collider enabled?
*/
public isEnabled(): boolean {
return this.colliderSet.raw.coIsEnabled(this.handle);
}
/**
* Sets the restitution coefficient of the collider to be created.
*
* @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior
* while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the
* constraints solver).
*/
public setRestitution(restitution: number) {
this.colliderSet.raw.coSetRestitution(this.handle, restitution);
}
/**
* Sets the friction coefficient of the collider to be created.
*
* @param friction - The friction coefficient. Must be greater or equal to 0. This is generally smaller than 1. The
* higher the coefficient, the stronger friction forces will be for contacts with the collider
* being built.
*/
public setFriction(friction: number) {
this.colliderSet.raw.coSetFriction(this.handle, friction);
}
/**
* Gets the rule used to combine the friction coefficients of two colliders
* colliders involved in a contact.
*/
public frictionCombineRule(): CoefficientCombineRule {
return this.colliderSet.raw.coFrictionCombineRule(this.handle);
}
/**
* Sets the rule used to combine the friction coefficients of two colliders
* colliders involved in a contact.
*
* @param rule − The combine rule to apply.
*/
public setFrictionCombineRule(rule: CoefficientCombineRule) {
this.colliderSet.raw.coSetFrictionCombineRule(this.handle, rule);
}
/**
* Gets the rule used to combine the restitution coefficients of two colliders
* colliders involved in a contact.
*/
public restitutionCombineRule(): CoefficientCombineRule {
return this.colliderSet.raw.coRestitutionCombineRule(this.handle);
}
/**
* Sets the rule used to combine the restitution coefficients of two colliders
* colliders involved in a contact.
*
* @param rule − The combine rule to apply.
*/
public setRestitutionCombineRule(rule: CoefficientCombineRule) {
this.colliderSet.raw.coSetRestitutionCombineRule(this.handle, rule);
}
/**
* Sets the collision groups used by this collider.
*
* Two colliders will interact iff. their collision groups are compatible.
* See the documentation of `InteractionGroups` for details on teh used bit pattern.
*
* @param groups - The collision groups used for the collider being built.
*/
public setCollisionGroups(groups: InteractionGroups) {
this.colliderSet.raw.coSetCollisionGroups(this.handle, groups);
}
/**
* Sets the solver groups used by this collider.
*
* Forces between two colliders in contact will be computed iff their solver
* groups are compatible.
* See the documentation of `InteractionGroups` for details on the used bit pattern.
*
* @param groups - The solver groups used for the collider being built.
*/
public setSolverGroups(groups: InteractionGroups) {
this.colliderSet.raw.coSetSolverGroups(this.handle, groups);
}
/**
* Sets the contact skin for this collider.
*
* See the documentation of `ColliderDesc.setContactSkin` for additional details.
*/
public contactSkin(): number {
return this.colliderSet.raw.coContactSkin(this.handle);
}
/**
* Sets the contact skin for this collider.
*
* See the documentation of `ColliderDesc.setContactSkin` for additional details.
*
* @param thickness - The contact skin thickness.
*/
public setContactSkin(thickness: number) {
return this.colliderSet.raw.coSetContactSkin(this.handle, thickness);
}
/**
* Get the physics hooks active for this collider.
*/
public activeHooks(): ActiveHooks {
return this.colliderSet.raw.coActiveHooks(this.handle);
}
/**
* Set the physics hooks active for this collider.
*
* Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider.
*
* @param activeHooks - The hooks active for contact/intersection pairs involving this collider.
*/
public setActiveHooks(activeHooks: ActiveHooks) {
this.colliderSet.raw.coSetActiveHooks(this.handle, activeHooks);
}
/**
* The events active for this collider.
*/
public activeEvents(): ActiveEvents {
return this.colliderSet.raw.coActiveEvents(this.handle);
}
/**
* Set the events active for this collider.
*
* Use this to enable contact and/or intersection event reporting for this collider.
*
* @param activeEvents - The events active for contact/intersection pairs involving this collider.
*/
public setActiveEvents(activeEvents: ActiveEvents) {
this.colliderSet.raw.coSetActiveEvents(this.handle, activeEvents);
}
/**
* Gets the collision types active for this collider.
*/
public activeCollisionTypes(): ActiveCollisionTypes {
return this.colliderSet.raw.coActiveCollisionTypes(this.handle);
}
/**
* Sets the total force magnitude beyond which a contact force event can be emitted.
*
* @param threshold - The new force threshold.
*/
public setContactForceEventThreshold(threshold: number) {
return this.colliderSet.raw.coSetContactForceEventThreshold(
this.handle,
threshold,
);
}
/**
* The total force magnitude beyond which a contact force event can be emitted.
*/
public contactForceEventThreshold(): number {
return this.colliderSet.raw.coContactForceEventThreshold(this.handle);
}
/**
* Set the collision types active for this collider.
*
* @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider.
*/
public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes) {
this.colliderSet.raw.coSetActiveCollisionTypes(
this.handle,
activeCollisionTypes,
);
}
/**
* Sets the uniform density of this collider.
*
* This will override any previous mass-properties set by `this.setDensity`,
* `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
* `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
*
* The mass and angular inertia of this collider will be computed automatically based on its
* shape.
*/
public setDensity(density: number) {
this.colliderSet.raw.coSetDensity(this.handle, density);
}
/**
* Sets the mass of this collider.
*
* This will override any previous mass-properties set by `this.setDensity`,
* `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
* `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
*
* The angular inertia of this collider will be computed automatically based on its shape
* and this mass value.
*/
public setMass(mass: number) {
this.colliderSet.raw.coSetMass(this.handle, mass);
}
// #if DIM3
/**
* Sets the mass of this collider.
*
* This will override any previous mass-properties set by `this.setDensity`,
* `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
* `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
*/
public setMassProperties(
mass: number,
centerOfMass: Vector,
principalAngularInertia: Vector,
angularInertiaLocalFrame: Rotation,
) {
let rawCom = VectorOps.intoRaw(centerOfMass);
let rawPrincipalInertia = VectorOps.intoRaw(principalAngularInertia);
let rawInertiaFrame = RotationOps.intoRaw(angularInertiaLocalFrame);
this.colliderSet.raw.coSetMassProperties(
this.handle,
mass,
rawCom,
rawPrincipalInertia,
rawInertiaFrame,
);
rawCom.free();
rawPrincipalInertia.free();
rawInertiaFrame.free();
}
// #endif
/**
* Sets the translation of this collider.
*
* @param tra - The world-space position of the collider.
*/
public setTranslation(tra: Vector) {
// #if DIM3
this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y, tra.z);
// #endif
}
/**
* Sets the translation of this collider relative to its parent rigid-body.
*
* Does nothing if this collider isn't attached to a rigid-body.
*
* @param tra - The new translation of the collider relative to its parent.
*/
public setTranslationWrtParent(tra: Vector) {
// #if DIM3
this.colliderSet.raw.coSetTranslationWrtParent(
this.handle,
tra.x,
tra.y,
tra.z,
);
// #endif
}
// #if DIM3
/**
* Sets the rotation quaternion of this collider.
*
* This does nothing if a zero quaternion is provided.
*
* @param rotation - The rotation to set.
*/
public setRotation(rot: Rotation) {
this.colliderSet.raw.coSetRotation(
this.handle,
rot.x,
rot.y,
rot.z,
rot.w,
);
}
/**
* Sets the rotation quaternion of this collider relative to its parent rigid-body.
*
* This does nothing if a zero quaternion is provided or if this collider isn't
* attached to a rigid-body.
*
* @param rotation - The rotation to set.
*/
public setRotationWrtParent(rot: Rotation) {
this.colliderSet.raw.coSetRotationWrtParent(
this.handle,
rot.x,
rot.y,
rot.z,
rot.w,
);
}
// #endif
/**
* The type of the shape of this collider.
*/
public shapeType(): ShapeType {
return this.colliderSet.raw.coShapeType(
this.handle,
) as number as ShapeType;
}
/**
* The half-extents of this collider if it is a cuboid shape.
*/
public halfExtents(): Vector {
return VectorOps.fromRaw(
this.colliderSet.raw.coHalfExtents(this.handle),
);
}
/**
* Sets the half-extents of this collider if it is a cuboid shape.
*
* @param newHalfExtents - desired half extents.
*/
public setHalfExtents(newHalfExtents: Vector) {
const rawPoint = VectorOps.intoRaw(newHalfExtents);
this.colliderSet.raw.coSetHalfExtents(this.handle, rawPoint);
}
/**
* The radius of this collider if it is a ball, cylinder, capsule, or cone shape.
*/
public radius(): number {
return this.colliderSet.raw.coRadius(this.handle);
}
/**
* Sets the radius of this collider if it is a ball, cylinder, capsule, or cone shape.
*
* @param newRadius - desired radius.
*/
public setRadius(newRadius: number): void {
this.colliderSet.raw.coSetRadius(this.handle, newRadius);
}
/**
* The radius of the round edges of this collider if it is a round cylinder.
*/
public roundRadius(): number {
return this.colliderSet.raw.coRoundRadius(this.handle);
}
/**
* Sets the radius of the round edges of this collider if it has round edges.
*
* @param newBorderRadius - desired round edge radius.
*/
public setRoundRadius(newBorderRadius: number) {
this.colliderSet.raw.coSetRoundRadius(this.handle, newBorderRadius);
}
/**
* The half height of this collider if it is a cylinder, capsule, or cone shape.
*/
public halfHeight(): number {
return this.colliderSet.raw.coHalfHeight(this.handle);
}
/**
* Sets the half height of this collider if it is a cylinder, capsule, or cone shape.
*
* @param newHalfheight - desired half height.
*/
public setHalfHeight(newHalfheight: number) {
this.colliderSet.raw.coSetHalfHeight(this.handle, newHalfheight);
}
/**
* If this collider has a Voxels shape, this will mark the voxel at the
* given grid coordinates as filled or empty (depending on the `filled`
* argument).
*
* Each input value is assumed to be an integer.
*
* The operation is O(1), unless the provided coordinates are out of the
* bounds of the currently allocated internal grid in which case the grid
* will be grown automatically.
*/
public setVoxel(
ix: number,
iy: number,
// #if DIM3
iz: number,
// #endif
filled: boolean,
) {
this.colliderSet.raw.coSetVoxel(
this.handle,
ix,
iy,
// #if DIM3
iz,
// #endif
filled,
);
// We modified the shape, invalidate it to keep our cache
// up-to-date the next time the user requests the shape data.
// PERF: this isn’t ideal for performances as this adds a
// hidden, non-constant, cost.
this._shape = null;
}
/**
* If this and `voxels2` are voxel colliders, and a voxel from `this` was
* modified with `setVoxel`, this will ensure that a
* moving object transitioning across the boundaries of these colliders
* won’t suffer from the "internal edges" artifact.
*
* The indices `ix, iy, iz` indicate the integer coordinates of the voxel in
* the local coordinate frame of `this`.
*
* If the voxels in `voxels2` live in a different coordinate space from `this`,
* then the `shift_*` argument indicate the distance, in voxel units, between
* the origin of `this` to the origin of `voxels2`.
*
* This method is intended to be called between `this` and all the other
* voxels colliders with a domain intersecting `this` or sharing a domain
* boundary. This is an incremental maintenance of the effect of
* `combineVoxelStates`.
*/
public propagateVoxelChange(
voxels2: Collider,
ix: number,
iy: number,
// #if DIM3
iz: number,
// #endif
shift_x: number,
shift_y: number,
// #if DIM3
shift_z: number,
// #endif
) {
this.colliderSet.raw.coPropagateVoxelChange(
this.handle,
voxels2.handle,
ix,
iy,
// #if DIM3
iz,
// #endif
shift_x,
shift_y,
// #if DIM3
shift_z,
// #endif
);
// We modified the shape, invalidate it to keep our cache
// up-to-date the next time the user requests the shape data.
// PERF: this isn’t ideal for performances as this adds a
// hidden, non-constant, cost.
this._shape = null;
}
/**
* If this and `voxels2` are voxel colliders, this will ensure that a
* moving object transitioning across the boundaries of these colliders
* won’t suffer from the "internal edges" artifact.
*
* If the voxels in `voxels2` live in a different coordinate space from `this`,
* then the `shift_*` argument indicate the distance, in voxel units, between
* the origin of `this` to the origin of `voxels2`.
*
* This method is intended to be called once between all pairs of voxels
* colliders with intersecting domains or shared boundaries.
*
* If either voxels collider is then modified with `setVoxel`, the
* `propagateVoxelChange` method must be called to maintain the coupling
* between the voxels shapes after the modification.
*/
public combineVoxelStates(
voxels2: Collider,
shift_x: number,
shift_y: number,
// #if DIM3
shift_z: number,
// #endif
) {
this.colliderSet.raw.coCombineVoxelStates(
this.handle,
voxels2.handle,
shift_x,
shift_y,
// #if DIM3
shift_z,
// #endif
);
// We modified the shape, invalidate it to keep our cache
// up-to-date the next time the user requests the shape data.
// PERF: this isn’t ideal for performances as this adds a
// hidden, non-constant, cost.
this._shape = null;
}
/**
* If this collider has a triangle mesh, polyline, convex polygon, or convex polyhedron shape,
* this returns the vertex buffer of said shape.
*/
public vertices(): Float32Array {
return this.colliderSet.raw.coVertices(this.handle);
}
/**
* If this collider has a triangle mesh, polyline, or convex polyhedron shape,
* this returns the index buffer of said shape.
*/
public indices(): Uint32Array | undefined {
return this.colliderSet.raw.coIndices(this.handle);
}
/**
* If this collider has a heightfield shape, this returns the heights buffer of
* the heightfield.
* In 3D, the returned height matrix is provided in column-major order.
*/
public heightfieldHeights(): Float32Array {
return this.colliderSet.raw.coHeightfieldHeights(this.handle);
}
/**
* If this collider has a heightfield shape, this returns the scale
* applied to it.
*/
public heightfieldScale(): Vector {
let scale = this.colliderSet.raw.coHeightfieldScale(this.handle);
return VectorOps.fromRaw(scale);
}
// #if DIM3
/**
* If this collider has a heightfield shape, this returns the number of
* rows of its height matrix.
*/
public heightfieldNRows(): number {
return this.colliderSet.raw.coHeightfieldNRows(this.handle);
}
/**
* If this collider has a heightfield shape, this returns the number of
* columns of its height matrix.
*/
public heightfieldNCols(): number {
return this.colliderSet.raw.coHeightfieldNCols(this.handle);
}
// #endif
/**
* The rigid-body this collider is attached to.
*/
public parent(): RigidBody | null {
return this._parent;
}
/**
* The friction coefficient of this collider.
*/
public friction(): number {
return this.colliderSet.raw.coFriction(this.handle);
}
/**
* The restitution coefficient of this collider.
*/
public restitution(): number {
return this.colliderSet.raw.coRestitution(this.handle);
}
/**
* The density of this collider.
*/
public density(): number {
return this.colliderSet.raw.coDensity(this.handle);
}
/**
* The mass of this collider.
*/
public mass(): number {
return this.colliderSet.raw.coMass(this.handle);
}
/**
* The volume of this collider.
*/
public volume(): number {
return this.colliderSet.raw.coVolume(this.handle);
}
/**
* The collision groups of this collider.
*/
public collisionGroups(): InteractionGroups {
return this.colliderSet.raw.coCollisionGroups(this.handle);
}
/**
* The solver groups of this collider.
*/
public solverGroups(): InteractionGroups {
return this.colliderSet.raw.coSolverGroups(this.handle);
}
/**
* Tests if this collider contains a point.
*
* @param point - The point to test.
*/
public containsPoint(point: Vector): boolean {
let rawPoint = VectorOps.intoRaw(point);
let result = this.colliderSet.raw.coContainsPoint(
this.handle,
rawPoint,
);
rawPoint.free();
return result;
}
/**
* Find the projection of a point on this collider.
*
* @param point - The point to project.
* @param solid - If this is set to `true` then the collider shapes are considered to
* be plain (if the point is located inside of a plain shape, its projection is the point
* itself). If it is set to `false` the collider shapes are considered to be hollow
* (if the point is located inside of an hollow shape, it is projected on the shape's
* boundary).
*/
public projectPoint(point: Vector, solid: boolean): PointProjection | null {
let rawPoint = VectorOps.intoRaw(point);
let result = PointProjection.fromRaw(
this.colliderSet.raw.coProjectPoint(this.handle, rawPoint, solid),
);
rawPoint.free();
return result;
}
/**
* Tests if this collider intersects the given ray.
*
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
*/
public intersectsRay(ray: Ray, maxToi: number): boolean {
let rawOrig = VectorOps.intoRaw(ray.origin);
let rawDir = VectorOps.intoRaw(ray.dir);
let result = this.colliderSet.raw.coIntersectsRay(
this.handle,
rawOrig,
rawDir,
maxToi,
);
rawOrig.free();
rawDir.free();
return result;
}
/*
* Computes the smallest time between this and the given shape under translational movement are separated by a distance smaller or equal to distance.
*
* @param collider1Vel - The constant velocity of the current shape to cast (i.e. the cast direction).
* @param shape2 - The shape to cast against.
* @param shape2Pos - The position of the second shape.
* @param shape2Rot - The rotation of the second shape.
* @param shape2Vel - The constant velocity of the second shape.
* @param targetDistance − If the shape moves closer to this distance from a collider, a hit
* will be returned.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the distance traveled by the shape to `collider1Vel.norm() * maxToi`.
* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
* the shape is penetrating another shape at its starting point **and** its trajectory is such
* that it’s on a path to exit that penetration state.
*/
public castShape(
collider1Vel: Vector,
shape2: Shape,
shape2Pos: Vector,
shape2Rot: Rotation,
shape2Vel: Vector,
targetDistance: number,
maxToi: number,
stopAtPenetration: boolean,
): ShapeCastHit | null {
let rawCollider1Vel = VectorOps.intoRaw(collider1Vel);
let rawShape2Pos = VectorOps.intoRaw(shape2Pos);
let rawShape2Rot = RotationOps.intoRaw(shape2Rot);
let rawShape2Vel = VectorOps.intoRaw(shape2Vel);
let rawShape2 = shape2.intoRaw();
let result = ShapeCastHit.fromRaw(
this.colliderSet,
this.colliderSet.raw.coCastShape(
this.handle,
rawCollider1Vel,
rawShape2,
rawShape2Pos,
rawShape2Rot,
rawShape2Vel,
targetDistance,
maxToi,
stopAtPenetration,
),
);
rawCollider1Vel.free();
rawShape2Pos.free();
rawShape2Rot.free();
rawShape2Vel.free();
rawShape2.free();
return result;
}
/*
* Computes the smallest time between this and the given collider under translational movement are separated by a distance smaller or equal to distance.
*
* @param collider1Vel - The constant velocity of the current collider to cast (i.e. the cast direction).
* @param collider2 - The collider to cast against.
* @param collider2Vel - The constant velocity of the second collider.
* @param targetDistance − If the shape moves closer to this distance from a collider, a hit
* will be returned.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
* the shape is penetrating another shape at its starting point **and** its trajectory is such
* that it’s on a path to exit that penetration state.
*/
public castCollider(
collider1Vel: Vector,
collider2: Collider,
collider2Vel: Vector,
targetDistance: number,
maxToi: number,
stopAtPenetration: boolean,
): ColliderShapeCastHit | null {
let rawCollider1Vel = VectorOps.intoRaw(collider1Vel);
let rawCollider2Vel = VectorOps.intoRaw(collider2Vel);
let result = ColliderShapeCastHit.fromRaw(
this.colliderSet,
this.colliderSet.raw.coCastCollider(
this.handle,
rawCollider1Vel,
collider2.handle,
rawCollider2Vel,
targetDistance,
maxToi,
stopAtPenetration,
),
);
rawCollider1Vel.free();
rawCollider2Vel.free();
return result;
}
public intersectsShape(
shape2: Shape,
shapePos2: Vector,
shapeRot2: Rotation,
): boolean {
let rawPos2 = VectorOps.intoRaw(shapePos2);
let rawRot2 = RotationOps.intoRaw(shapeRot2);
let rawShape2 = shape2.intoRaw();
let result = this.colliderSet.raw.coIntersectsShape(
this.handle,
rawShape2,
rawPos2,
rawRot2,
);
rawPos2.free();
rawRot2.free();
rawShape2.free();
return result;
}
/**
* Computes one pair of contact points between the shape owned by this collider and the given shape.
*
* @param shape2 - The second shape.
* @param shape2Pos - The initial position of the second shape.
* @param shape2Rot - The rotation of the second shape.
* @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.
* @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
*/
contactShape(
shape2: Shape,
shape2Pos: Vector,
shape2Rot: Rotation,
prediction: number,
): ShapeContact | null {
let rawPos2 = VectorOps.intoRaw(shape2Pos);
let rawRot2 = RotationOps.intoRaw(shape2Rot);
let rawShape2 = shape2.intoRaw();
let result = ShapeContact.fromRaw(
this.colliderSet.raw.coContactShape(
this.handle,
rawShape2,
rawPos2,
rawRot2,
prediction,
),
);
rawPos2.free();
rawRot2.free();
rawShape2.free();
return result;
}
/**
* Computes one pair of contact points between the collider and the given collider.
*
* @param collider2 - The second collider.
* @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.
* @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
*/
contactCollider(
collider2: Collider,
prediction: number,
): ShapeContact | null {
let result = ShapeContact.fromRaw(
this.colliderSet.raw.coContactCollider(
this.handle,
collider2.handle,
prediction,
),
);
return result;
}
/**
* Find the closest intersection between a ray and this collider.
*
* This also computes the normal at the hit point.
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @returns The time-of-impact between this collider and the ray, or `-1` if there is no intersection.
*/
public castRay(ray: Ray, maxToi: number, solid: boolean): number {
let rawOrig = VectorOps.intoRaw(ray.origin);
let rawDir = VectorOps.intoRaw(ray.dir);
let result = this.colliderSet.raw.coCastRay(
this.handle,
rawOrig,
rawDir,
maxToi,
solid,
);
rawOrig.free();
rawDir.free();
return result;
}
/**
* Find the closest intersection between a ray and this collider.
*
* This also computes the normal at the hit point.
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
*/
public castRayAndGetNormal(
ray: Ray,
maxToi: number,
solid: boolean,
): RayIntersection | null {
let rawOrig = VectorOps.intoRaw(ray.origin);
let rawDir = VectorOps.intoRaw(ray.dir);
let result = RayIntersection.fromRaw(
this.colliderSet.raw.coCastRayAndGetNormal(
this.handle,
rawOrig,
rawDir,
maxToi,
solid,
),
);
rawOrig.free();
rawDir.free();
return result;
}
}
export enum MassPropsMode {
Density,
Mass,
MassProps,
}
export class ColliderDesc {
enabled: boolean;
shape: Shape;
massPropsMode: MassPropsMode;
mass: number;
centerOfMass: Vector;
// #if DIM3
principalAngularInertia: Vector;
angularInertiaLocalFrame: Rotation;
// #endif
density: number;
friction: number;
restitution: number;
rotation: Rotation;
translation: Vector;
isSensor: boolean;
collisionGroups: InteractionGroups;
solverGroups: InteractionGroups;
frictionCombineRule: CoefficientCombineRule;
restitutionCombineRule: CoefficientCombineRule;
activeEvents: ActiveEvents;
activeHooks: ActiveHooks;
activeCollisionTypes: ActiveCollisionTypes;
contactForceEventThreshold: number;
contactSkin: number;
/**
* Initializes a collider descriptor from the collision shape.
*
* @param shape - The shape of the collider being built.
*/
constructor(shape: Shape) {
this.enabled = true;
this.shape = shape;
this.massPropsMode = MassPropsMode.Density;
this.density = 1.0;
this.friction = 0.5;
this.restitution = 0.0;
this.rotation = RotationOps.identity();
this.translation = VectorOps.zeros();
this.isSensor = false;
this.collisionGroups = 0xffff_ffff;
this.solverGroups = 0xffff_ffff;
this.frictionCombineRule = CoefficientCombineRule.Average;
this.restitutionCombineRule = CoefficientCombineRule.Average;
this.activeCollisionTypes = ActiveCollisionTypes.DEFAULT;
this.activeEvents = ActiveEvents.NONE;
this.activeHooks = ActiveHooks.NONE;
this.mass = 0.0;
this.centerOfMass = VectorOps.zeros();
this.contactForceEventThreshold = 0.0;
this.contactSkin = 0.0;
// #if DIM3
this.principalAngularInertia = VectorOps.zeros();
this.angularInertiaLocalFrame = RotationOps.identity();
// #endif
}
/**
* Create a new collider descriptor with a ball shape.
*
* @param radius - The radius of the ball.
*/
public static ball(radius: number): ColliderDesc {
const shape = new Ball(radius);
return new ColliderDesc(shape);
}
/**
* Create a new collider descriptor with a capsule shape.
*
* @param halfHeight - The half-height of the capsule, along the `y` axis.
* @param radius - The radius of the capsule basis.
*/
public static capsule(halfHeight: number, radius: number): ColliderDesc {
const shape = new Capsule(halfHeight, radius);
return new ColliderDesc(shape);
}
/**
* Creates a new segment shape.
*
* @param a - The first point of the segment.
* @param b - The second point of the segment.
*/
public static segment(a: Vector, b: Vector): ColliderDesc {
const shape = new Segment(a, b);
return new ColliderDesc(shape);
}
/**
* Creates a new triangle shape.
*
* @param a - The first point of the triangle.
* @param b - The second point of the triangle.
* @param c - The third point of the triangle.
*/
public static triangle(a: Vector, b: Vector, c: Vector): ColliderDesc {
const shape = new Triangle(a, b, c);
return new ColliderDesc(shape);
}
/**
* Creates a new triangle shape with round corners.
*
* @param a - The first point of the triangle.
* @param b - The second point of the triangle.
* @param c - The third point of the triangle.
* @param borderRadius - The radius of the borders of this triangle. In 3D,
* this is also equal to half the thickness of the triangle.
*/
public static roundTriangle(
a: Vector,
b: Vector,
c: Vector,
borderRadius: number,
): ColliderDesc {
const shape = new RoundTriangle(a, b, c, borderRadius);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor with a polyline shape.
*
* @param vertices - The coordinates of the polyline's vertices.
* @param indices - The indices of the polyline's segments. If this is `undefined` or `null`,
* the vertices are assumed to describe a line strip.
*/
public static polyline(
vertices: Float32Array,
indices?: Uint32Array | null,
): ColliderDesc {
const shape = new Polyline(vertices, indices);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor with a shape made of voxels.
*
* @param data - Defines the set of voxels. If this is a `Int32Array` then
* each voxel is defined from its (signed) grid coordinates,
* with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).
* If this is a `Float32Array`, each voxel will be such that
* they contain at least one point from this array (where each
* point is defined from 3 (resp 2) contiguous numbers per point
* in 3D (resp 2D).
* @param voxelSize - The size of each voxel.
*/
public static voxels(
voxels: Float32Array | Int32Array,
voxelSize: Vector,
): ColliderDesc {
const shape = new Voxels(voxels, voxelSize);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor with a triangle mesh shape.
*
* @param vertices - The coordinates of the triangle mesh's vertices.
* @param indices - The indices of the triangle mesh's triangles.
*/
public static trimesh(
vertices: Float32Array,
indices: Uint32Array,
flags?: TriMeshFlags,
): ColliderDesc {
const shape = new TriMesh(vertices, indices, flags);
return new ColliderDesc(shape);
}
// #if DIM3
/**
* Creates a new collider descriptor with a cuboid shape.
*
* @param hx - The half-width of the rectangle along its local `x` axis.
* @param hy - The half-width of the rectangle along its local `y` axis.
* @param hz - The half-width of the rectangle along its local `z` axis.
*/
public static cuboid(hx: number, hy: number, hz: number): ColliderDesc {
const shape = new Cuboid(hx, hy, hz);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor with a rectangular shape with round borders.
*
* @param hx - The half-width of the rectangle along its local `x` axis.
* @param hy - The half-width of the rectangle along its local `y` axis.
* @param hz - The half-width of the rectangle along its local `z` axis.
* @param borderRadius - The radius of the cuboid's borders.
*/
public static roundCuboid(
hx: number,
hy: number,
hz: number,
borderRadius: number,
): ColliderDesc {
const shape = new RoundCuboid(hx, hy, hz, borderRadius);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor with a heightfield shape.
*
* @param nrows − The number of rows in the heights matrix.
* @param ncols - The number of columns in the heights matrix.
* @param heights - The heights of the heightfield along its local `y` axis,
* provided as a matrix stored in column-major order.
* @param scale - The scale factor applied to the heightfield.
*/
public static heightfield(
nrows: number,
ncols: number,
heights: Float32Array,
scale: Vector,
flags?: HeightFieldFlags,
): ColliderDesc {
const shape = new Heightfield(nrows, ncols, heights, scale, flags);
return new ColliderDesc(shape);
}
/**
* Create a new collider descriptor with a cylinder shape.
*
* @param halfHeight - The half-height of the cylinder, along the `y` axis.
* @param radius - The radius of the cylinder basis.
*/
public static cylinder(halfHeight: number, radius: number): ColliderDesc {
const shape = new Cylinder(halfHeight, radius);
return new ColliderDesc(shape);
}
/**
* Create a new collider descriptor with a cylinder shape with rounded corners.
*
* @param halfHeight - The half-height of the cylinder, along the `y` axis.
* @param radius - The radius of the cylinder basis.
* @param borderRadius - The radius of the cylinder's rounded edges and vertices.
*/
public static roundCylinder(
halfHeight: number,
radius: number,
borderRadius: number,
): ColliderDesc {
const shape = new RoundCylinder(halfHeight, radius, borderRadius);
return new ColliderDesc(shape);
}
/**
* Create a new collider descriptor with a cone shape.
*
* @param halfHeight - The half-height of the cone, along the `y` axis.
* @param radius - The radius of the cone basis.
*/
public static cone(halfHeight: number, radius: number): ColliderDesc {
const shape = new Cone(halfHeight, radius);
return new ColliderDesc(shape);
}
/**
* Create a new collider descriptor with a cone shape with rounded corners.
*
* @param halfHeight - The half-height of the cone, along the `y` axis.
* @param radius - The radius of the cone basis.
* @param borderRadius - The radius of the cone's rounded edges and vertices.
*/
public static roundCone(
halfHeight: number,
radius: number,
borderRadius: number,
): ColliderDesc {
const shape = new RoundCone(halfHeight, radius, borderRadius);
return new ColliderDesc(shape);
}
/**
* Computes the convex-hull of the given points and use the resulting
* convex polyhedron as the shape for this new collider descriptor.
*
* @param points - The point that will be used to compute the convex-hull.
*/
public static convexHull(points: Float32Array): ColliderDesc | null {
const shape = new ConvexPolyhedron(points, null);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor that uses the given set of points assumed
* to form a convex polyline (no convex-hull computation will be done).
*
* @param vertices - The vertices of the convex polyline.
*/
public static convexMesh(
vertices: Float32Array,
indices?: Uint32Array | null,
): ColliderDesc | null {
const shape = new ConvexPolyhedron(vertices, indices);
return new ColliderDesc(shape);
}
/**
* Computes the convex-hull of the given points and use the resulting
* convex polyhedron as the shape for this new collider descriptor. A
* border is added to that convex polyhedron to give it round corners.
*
* @param points - The point that will be used to compute the convex-hull.
* @param borderRadius - The radius of the round border added to the convex polyhedron.
*/
public static roundConvexHull(
points: Float32Array,
borderRadius: number,
): ColliderDesc | null {
const shape = new RoundConvexPolyhedron(points, null, borderRadius);
return new ColliderDesc(shape);
}
/**
* Creates a new collider descriptor that uses the given set of points assumed
* to form a round convex polyline (no convex-hull computation will be done).
*
* @param vertices - The vertices of the convex polyline.
* @param borderRadius - The radius of the round border added to the convex polyline.
*/
public static roundConvexMesh(
vertices: Float32Array,
indices: Uint32Array | null,
borderRadius: number,
): ColliderDesc | null {
const shape = new RoundConvexPolyhedron(
vertices,
indices,
borderRadius,
);
return new ColliderDesc(shape);
}
// #endif
// #if DIM3
/**
* Sets the position of the collider to be created re