@dimforge/rapier3d
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3-dimensional physics engine in Rust - official JS bindings.
1,256 lines • 51.6 kB
JavaScript
import { RotationOps, VectorOps } from "../math";
import { CoefficientCombineRule, } from "../dynamics";
import { ActiveHooks, ActiveEvents } from "../pipeline";
import { Shape, Cuboid, Ball, Capsule, Voxels, TriMesh, Polyline, Heightfield, Segment, Triangle, RoundTriangle, RoundCuboid,
// #if DIM3
Cylinder, RoundCylinder, Cone, RoundCone, ConvexPolyhedron, RoundConvexPolyhedron,
// #endif
} from "./shape";
import { RayIntersection } from "./ray";
import { PointProjection } from "./point";
import { ColliderShapeCastHit, ShapeCastHit } from "./toi";
import { ShapeContact } from "./contact";
/**
* Flags affecting whether collision-detection happens between two colliders
* depending on the type of rigid-bodies they are attached to.
*/
export var ActiveCollisionTypes;
(function (ActiveCollisionTypes) {
/**
* Enable collision-detection between a collider attached to a dynamic body
* and another collider attached to a dynamic body.
*/
ActiveCollisionTypes[ActiveCollisionTypes["DYNAMIC_DYNAMIC"] = 1] = "DYNAMIC_DYNAMIC";
/**
* Enable collision-detection between a collider attached to a dynamic body
* and another collider attached to a kinematic body.
*/
ActiveCollisionTypes[ActiveCollisionTypes["DYNAMIC_KINEMATIC"] = 12] = "DYNAMIC_KINEMATIC";
/**
* 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).
*/
ActiveCollisionTypes[ActiveCollisionTypes["DYNAMIC_FIXED"] = 2] = "DYNAMIC_FIXED";
/**
* Enable collision-detection between a collider attached to a kinematic body
* and another collider attached to a kinematic body.
*/
ActiveCollisionTypes[ActiveCollisionTypes["KINEMATIC_KINEMATIC"] = 52224] = "KINEMATIC_KINEMATIC";
/**
* 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).
*/
ActiveCollisionTypes[ActiveCollisionTypes["KINEMATIC_FIXED"] = 8704] = "KINEMATIC_FIXED";
/**
* 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).
*/
ActiveCollisionTypes[ActiveCollisionTypes["FIXED_FIXED"] = 32] = "FIXED_FIXED";
/**
* 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.
*/
ActiveCollisionTypes[ActiveCollisionTypes["DEFAULT"] = 15] = "DEFAULT";
/**
* Enable collisions between any kind of rigid-bodies (including between two non-dynamic bodies).
*/
ActiveCollisionTypes[ActiveCollisionTypes["ALL"] = 60943] = "ALL";
})(ActiveCollisionTypes || (ActiveCollisionTypes = {}));
/**
* A geometric entity that can be attached to a body so it can be affected
* by contacts and proximity queries.
*/
export class Collider {
constructor(colliderSet, handle, parent, shape) {
this.colliderSet = colliderSet;
this.handle = handle;
this._parent = parent;
this._shape = shape;
}
/** @internal */
finalizeDeserialization(bodies) {
if (this.handle != null) {
this._parent = bodies.get(this.colliderSet.raw.coParent(this.handle));
}
}
ensureShapeIsCached() {
if (!this._shape)
this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle);
}
/**
* The shape of this collider.
*/
get 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.
*/
clearShapeCache() {
this._shape = null;
}
/**
* Checks if this collider is still valid (i.e. that it has
* not been deleted from the collider set yet).
*/
isValid() {
return this.colliderSet.raw.contains(this.handle);
}
/**
* The world-space translation of this collider.
*/
translation() {
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.
*/
translationWrtParent() {
return VectorOps.fromRaw(this.colliderSet.raw.coTranslationWrtParent(this.handle));
}
/**
* The world-space orientation of this collider.
*/
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.
*/
rotationWrtParent() {
return RotationOps.fromRaw(this.colliderSet.raw.coRotationWrtParent(this.handle));
}
/**
* Is this collider a sensor?
*/
isSensor() {
return this.colliderSet.raw.coIsSensor(this.handle);
}
/**
* Sets whether this collider is a sensor.
* @param isSensor - If `true`, the collider will be a sensor.
*/
setSensor(isSensor) {
this.colliderSet.raw.coSetSensor(this.handle, isSensor);
}
/**
* Sets the new shape of the collider.
* @param shape - The collider’s new shape.
*/
setShape(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).
*/
setEnabled(enabled) {
this.colliderSet.raw.coSetEnabled(this.handle, enabled);
}
/**
* Is this collider enabled?
*/
isEnabled() {
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).
*/
setRestitution(restitution) {
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.
*/
setFriction(friction) {
this.colliderSet.raw.coSetFriction(this.handle, friction);
}
/**
* Gets the rule used to combine the friction coefficients of two colliders
* colliders involved in a contact.
*/
frictionCombineRule() {
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.
*/
setFrictionCombineRule(rule) {
this.colliderSet.raw.coSetFrictionCombineRule(this.handle, rule);
}
/**
* Gets the rule used to combine the restitution coefficients of two colliders
* colliders involved in a contact.
*/
restitutionCombineRule() {
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.
*/
setRestitutionCombineRule(rule) {
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.
*/
setCollisionGroups(groups) {
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.
*/
setSolverGroups(groups) {
this.colliderSet.raw.coSetSolverGroups(this.handle, groups);
}
/**
* Sets the contact skin for this collider.
*
* See the documentation of `ColliderDesc.setContactSkin` for additional details.
*/
contactSkin() {
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.
*/
setContactSkin(thickness) {
return this.colliderSet.raw.coSetContactSkin(this.handle, thickness);
}
/**
* Get the physics hooks active for this collider.
*/
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.
*/
setActiveHooks(activeHooks) {
this.colliderSet.raw.coSetActiveHooks(this.handle, activeHooks);
}
/**
* The events active for this collider.
*/
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.
*/
setActiveEvents(activeEvents) {
this.colliderSet.raw.coSetActiveEvents(this.handle, activeEvents);
}
/**
* Gets the collision types active for this collider.
*/
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.
*/
setContactForceEventThreshold(threshold) {
return this.colliderSet.raw.coSetContactForceEventThreshold(this.handle, threshold);
}
/**
* The total force magnitude beyond which a contact force event can be emitted.
*/
contactForceEventThreshold() {
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.
*/
setActiveCollisionTypes(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.
*/
setDensity(density) {
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.
*/
setMass(mass) {
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.
*/
setMassProperties(mass, centerOfMass, principalAngularInertia, angularInertiaLocalFrame) {
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.
*/
setTranslation(tra) {
// #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.
*/
setTranslationWrtParent(tra) {
// #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.
*/
setRotation(rot) {
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.
*/
setRotationWrtParent(rot) {
this.colliderSet.raw.coSetRotationWrtParent(this.handle, rot.x, rot.y, rot.z, rot.w);
}
// #endif
/**
* The type of the shape of this collider.
*/
shapeType() {
return this.colliderSet.raw.coShapeType(this.handle);
}
/**
* The half-extents of this collider if it is a cuboid shape.
*/
halfExtents() {
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.
*/
setHalfExtents(newHalfExtents) {
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.
*/
radius() {
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.
*/
setRadius(newRadius) {
this.colliderSet.raw.coSetRadius(this.handle, newRadius);
}
/**
* The radius of the round edges of this collider if it is a round cylinder.
*/
roundRadius() {
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.
*/
setRoundRadius(newBorderRadius) {
this.colliderSet.raw.coSetRoundRadius(this.handle, newBorderRadius);
}
/**
* The half height of this collider if it is a cylinder, capsule, or cone shape.
*/
halfHeight() {
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.
*/
setHalfHeight(newHalfheight) {
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.
*/
setVoxel(ix, iy,
// #if DIM3
iz,
// #endif
filled) {
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`.
*/
propagateVoxelChange(voxels2, ix, iy,
// #if DIM3
iz,
// #endif
shift_x, shift_y,
// #if DIM3
shift_z) {
this.colliderSet.raw.coPropagateVoxelChange(this.handle, voxels2.handle, ix, iy,
// #if DIM3
iz,
// #endif
shift_x, shift_y,
// #if DIM3
shift_z);
// 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.
*/
combineVoxelStates(voxels2, shift_x, shift_y,
// #if DIM3
shift_z) {
this.colliderSet.raw.coCombineVoxelStates(this.handle, voxels2.handle, shift_x, shift_y,
// #if DIM3
shift_z);
// 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.
*/
vertices() {
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.
*/
indices() {
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.
*/
heightfieldHeights() {
return this.colliderSet.raw.coHeightfieldHeights(this.handle);
}
/**
* If this collider has a heightfield shape, this returns the scale
* applied to it.
*/
heightfieldScale() {
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.
*/
heightfieldNRows() {
return this.colliderSet.raw.coHeightfieldNRows(this.handle);
}
/**
* If this collider has a heightfield shape, this returns the number of
* columns of its height matrix.
*/
heightfieldNCols() {
return this.colliderSet.raw.coHeightfieldNCols(this.handle);
}
// #endif
/**
* The rigid-body this collider is attached to.
*/
parent() {
return this._parent;
}
/**
* The friction coefficient of this collider.
*/
friction() {
return this.colliderSet.raw.coFriction(this.handle);
}
/**
* The restitution coefficient of this collider.
*/
restitution() {
return this.colliderSet.raw.coRestitution(this.handle);
}
/**
* The density of this collider.
*/
density() {
return this.colliderSet.raw.coDensity(this.handle);
}
/**
* The mass of this collider.
*/
mass() {
return this.colliderSet.raw.coMass(this.handle);
}
/**
* The volume of this collider.
*/
volume() {
return this.colliderSet.raw.coVolume(this.handle);
}
/**
* The collision groups of this collider.
*/
collisionGroups() {
return this.colliderSet.raw.coCollisionGroups(this.handle);
}
/**
* The solver groups of this collider.
*/
solverGroups() {
return this.colliderSet.raw.coSolverGroups(this.handle);
}
/**
* Tests if this collider contains a point.
*
* @param point - The point to test.
*/
containsPoint(point) {
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).
*/
projectPoint(point, solid) {
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`.
*/
intersectsRay(ray, maxToi) {
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.
*/
castShape(collider1Vel, shape2, shape2Pos, shape2Rot, shape2Vel, targetDistance, maxToi, stopAtPenetration) {
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.
*/
castCollider(collider1Vel, collider2, collider2Vel, targetDistance, maxToi, stopAtPenetration) {
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;
}
intersectsShape(shape2, shapePos2, shapeRot2) {
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, shape2Pos, shape2Rot, prediction) {
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, prediction) {
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.
*/
castRay(ray, maxToi, solid) {
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.
*/
castRayAndGetNormal(ray, maxToi, solid) {
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 var MassPropsMode;
(function (MassPropsMode) {
MassPropsMode[MassPropsMode["Density"] = 0] = "Density";
MassPropsMode[MassPropsMode["Mass"] = 1] = "Mass";
MassPropsMode[MassPropsMode["MassProps"] = 2] = "MassProps";
})(MassPropsMode || (MassPropsMode = {}));
export class ColliderDesc {
/**
* Initializes a collider descriptor from the collision shape.
*
* @param shape - The shape of the collider being built.
*/
constructor(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 = 4294967295;
this.solverGroups = 4294967295;
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.
*/
static ball(radius) {
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.
*/
static capsule(halfHeight, radius) {
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.
*/
static segment(a, b) {
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.
*/
static triangle(a, b, c) {
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.
*/
static roundTriangle(a, b, c, borderRadius) {
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.
*/
static polyline(vertices, indices) {
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.
*/
static voxels(voxels, voxelSize) {
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.
*/
static trimesh(vertices, indices, flags) {
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.
*/
static cuboid(hx, hy, hz) {
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.
*/
static roundCuboid(hx, hy, hz, borderRadius) {
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.
*/
static heightfield(nrows, ncols, heights, scale, flags) {
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.
*/
static cylinder(halfHeight, radius) {
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.
*/
static roundCylinder(halfHeight, radius, borderRadius) {
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.
*/
static cone(halfHeight, radius) {
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.
*/
static roundCone(halfHeight, radius, borderRadius) {
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.
*/
static convexHull(points) {
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.
*/
static convexMesh(vertices, indices) {
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.
*/
static roundConvexHull(points, borderRadius) {
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.
*/
static roundConvexMesh(vertices, indices, borderRadius) {
const shape = new RoundConvexPolyhedron(vertices, indices, borderRadius);
return new ColliderDesc(shape);
}
// #endif
// #if DIM3
/**
* Sets the position of the collider to be created relative to the rigid-body it is attached to.
*/
setTranslation(x, y, z) {
if (typeof x != "number" ||
typeof y != "number" ||
typeof z != "number")
throw TypeError("The translation components must be numbers.");
this.translation = { x: x, y: y, z: z };
return this;
}
// #endif
/**
* Sets the rotation of the collider to be created relative to the rigid-body it is attached to.
*
* @param rot - The rotation of the collider to be created relative to the rigid-body it is attached to.
*/
setRotation(rot) {
// #if DIM3
RotationOps.copy(this.rotation, rot);
// #endif
return this;
}
/**
* Sets whether or not the collider being created is a sensor.
*
* A sensor collider does not take part of the physics simulation, but generates
* proximity events.
*
* @param sensor - Set to `true` of the collider built is to be a sensor.
*/
setSensor(sensor) {
this.isSensor = sensor;
return this;
}
/**
* Sets whether the created collider will be enabled or disabled.
* @param enabled − If set to `false` the collider will be disabled at creation.
*/
setEnabled(enabled) {
this.enabled = enabled;
return this;
}
/**
* Sets the contact skin of the collider.
*
* The contact skin acts as if the collider was enlarged with a skin of width `skin_thickness`
* around it, keeping objects further apart when colliding.
*
* A non-zero contact skin can increase performance, and in some cases, stability. However
* it creates a small gap between colliding object (equal to the sum of their skin). If the
* skin is sufficiently small, this might not be visually significant or can be hidden by the
* rendering assets.
*/
setContactSkin(thickness) {
this.contactSkin = thickness;
return this;
}
/**
* Sets the density of the collider being built.
*
* The mass and angular inertia tensor will be computed automatically based on this density and the collider’s shape.
*
* @param density - The density to set, must be greater or equal to 0. A density of 0 means that this collider
* will not affect the mass or angular inertia of the rigid-body it is attached to.
*/
setDensity(density) {
this.massPropsMode = MassPropsMode.Density;
this.density = density;
return this;
}
/**
* Sets the mass of the collider being built.
*
* The angular inertia tensor will be computed automatically based on this mass and the collider’s shape.
*
* @param mass - The mass to set, must be greater or equal to 0.
*/
setMass(mass) {
this.massPropsMode = MassPropsMode.Mass;
this.mass = mass;
return this;
}
// #if DIM3
/**
* Sets the mass properties of the collider being built.
*
* This replaces the mass-properties automatically computed from the collider's density and shape.
* These mass-properties will be added to the mass-properties of the rigid-body this collider will be attached to.
*
* @param mass − The mass of the collider to create.
* @param centerOfMass − The center-of-mass of the collider to create.
* @param principalAngularInertia − The initial principal angular inertia of the collider to create.
* These are the eigenvalues of the angular inertia matrix.
* @param angularInertiaLocalFrame − The initial local angular inertia frame of the collider to create.
* These are the eigenvectors of the angular inertia matrix.
*/
setMassProperties(mass, centerOfMass, principalAngularInertia, angularInertiaLocalFrame) {
this.massPropsMode = MassPropsMode.MassProps;
this.mass = mass;
VectorOps.copy(this.centerOfMass, centerOfMass);
VectorOps.copy(this.principalAngularInertia, principalAngularInertia);
RotationOps.copy(this.angularInertiaLocalFrame, angularInertiaLocalFrame);
return this;
}
// #endif
/**
* 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).
*/
setRestitution(restitution) {
this.restitution = restitution;
return this;
}
/**
* 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.
*/
setFriction(friction) {
this.friction = friction;
return this;
}
/**
* Sets the rule used to combine the friction coefficients of two colliders
* colliders involved in a contact.
*
* @param rule − The combine rule to apply.
*/
setFrictionCombineRule(rule) {
this.frictionCombineRule = rule;
return this;
}
/**
* Sets the rule used to combine the restitution coefficients of two colliders
* colliders involved in a contact.
*
* @param rule − The combine rule to apply.
*/
setRestitutionCombineRule(rule) {
this.restitutionCombineRule = rule;
return this;
}
/**
* 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.
*/
setCollisionGroups(groups) {
this.collisionGroups = groups;
return this;
}
/**
* 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 be