phy-engine
Version:
JavaScript 3D Physics for three.js
1 lines • 2.88 MB
JavaScript
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g,I=A.length/3,B=[0,0,0],Q=[0,0,0];for(;I--;)g=3*I,A[g]<B[0]?B[0]=A[g]:A[g]>Q[0]&&(Q[0]=A[g]),A[g+1]<B[1]?B[1]=A[g+1]:A[g+1]>Q[1]&&(Q[1]=A[g+1]),A[g+2]<B[2]?B[2]=A[g+2]:A[g+2]>Q[2]&&(Q[2]=A[g+2]);let C=[Q[0]-B[0],Q[1]-B[1],Q[2]-B[2]];return.5*C[0]*8*(.5*C[1])*(.5*C[2])},massFromDensity:(A,g)=>A*g,densityFromMass:(A,g)=>A/g,toNonIndexed:A=>A.index?A.clone().toNonIndexed():A,getIndex:(A,g)=>!A.index||g?null:A.index.array||null,getSameVertex:A=>{const g=A.getAttribute("position"),I=g.array,B=[],Q=[],C={};new THREE.Vector3;let E,D=0;R.getHash(A);let w,i,o=!1,F=0;for(let A=0;A<g.count;A++){D=3*A,w={x:I[D],y:I[D+1],z:I[D+2],id:A},o=!1,E=B.length;for(let g=0;g<E;g++)i=B[g],w.x===i.x&&w.y===i.y&&w.z===i.z&&(o=!0,C[A]=i.id);o||(w.id=F++,B.push(w),Q.push([w.x,w.y,w.z]))}return[Q,C]},getVertex:(A,g)=>{let I=A.attributes.position.array;return g&&A.index&&(I=(A=A.clone().toNonIndexed()).attributes.position.array),I},getNormal:A=>A.attributes.normal.array,getFaces:A=>{let g=[];if(A.index){let I=A.getIndex();for(let A=0;A<I.count;A+=3)g.push([I.getX(A),I.getX(A+1),I.getX(A+2)])}else{let I=A.getAttribute("position").count;for(let A=0;A<I;A+=3)g.push([A,A+1,A+2])}return g},getConnectedFaces:A=>{const g=[];let I,B,Q,C,E,D,w,i=A.length,o=i;for(;o--;)for(B=A[o],I=i;I--;)I!==o&&(Q=A[I],C=B.filter((A=>Q.includes(A))),C.length>1&&(w=[],E=[...B],D=E.indexOf(C[0]),E.splice(D,1),D=E.indexOf(C[1]),E.splice(D,1),w.push(E[0]),E=[...Q],D=E.indexOf(C[0]),E.splice(D,1),D=E.indexOf(C[1]),E.splice(D,1),w.push(E[0]),g.push(w)));return g},reduce:A=>{},barycentric:(A,g)=>{},solve:(A,g)=>{},getHash:(A,g=1e-4)=>{g=Math.max(g,Number.EPSILON);const I={},B={},Q=A.getAttribute("position"),C=Q.count,E=Q.array,D=.5*g,w=Math.log10(1/g),i=Math.pow(10,w),o=D*i;let F;for(let A=0;A<C;A++){F=3*A;let g=`${~~(E[F]*i+o)},${~~(E[F+1]*i+o)},${~~(E[F+2]*i+o)}`;I[g]?I[g].push(A):I[g]=[A]}let G=0;for(let A in I)B[G++]=I[A];return B}},N=R;class k{constructor(){this.id=0,this.list=[],this.type="item",this.Utils=null}reset(){let A=this.list.length;for(;A--;)this.dispose(this.list[A]);this.list=[],this.id=0}byName(A){return this.Utils.byName(A)}setName(A={}){let g=void 0!==A.name?A.name:this.type+this.id++;return A.id=this.remove(g,!0),A.name=g,g}addToWorld(A,g=-1){this.Utils.add(A),-1!==g?this.list[g]=A:this.list.push(A)}remove(A,g){let I=this.byName(A);return I?this.clear(I,g):-1}clear(A,g){let I=this.list.indexOf(A);return-1===I||g?this.list[I]=null:this.list.splice(I,1),this.dispose(A),I}dispose(A){null!==A&&this.Utils.remove(A)}add(A={}){}set(A={}){}step(A,g){}}class y extends k{constructor(){super(),this.Utils=C,this.type="ray"}step(){const A=Q.Ar,g=Q.ArPos[this.type];Q.reflow.ray=[];let I,B,E,D,w,i,o,G,M,H,U,S,R,k=this.list.length;for(;k--;)B=g+k*F.ray,I=this.list[k],w=I.getPoint(),o=-1,G=-1,M=!1,H=[BigInt(0)],D=[w[0],w[1],[-1,-1],false,H],A[B]=0,havok.HP_World_CastRayWithCollector(Q.world,Q.queryCollector,D),U=havok.HP_QueryCollector_GetNumHits(Q.queryCollector)[1],U>0&&(R=this.nearest(U,w[0]),i=R[1][3],S=R[1][4],R[1][5],A[B]=1,A[B+1]=N.distanceArray(w[0],i),A[B+2]=w[0][0],A[B+3]=w[0][1],A[B+4]=w[0][2],A[B+5]=i[0],A[B+6]=i[1],A[B+7]=i[2],A[B+8]=S[0],A[B+9]=S[1],A[B+10]=S[2],E=C.byId(R[1][0][0]),E&&(Q.reflow.ray[k]=E.name))}nearest(A,g){if(1===A)return havok.HP_QueryCollector_GetCastRayResult(Q.queryCollector,0)[1];let I,B,C,E=0,D=1/0,w=A;for(;w--;)I=havok.HP_QueryCollector_GetCastRayResult(Q.queryCollector,w)[1],B=I[1][3],C=N.distanceArray(g,B),C<D&&(D=C,E=I);return E}add(A={}){this.setName(A);let g=new K(A);this.addToWorld(g,A.id)}set(A={},g=null){null===g&&(g=this.byName(A.name)),null!==g&&(A.begin&&(g.begin=A.begin),A.end&&(g.end=A.end))}}class K{constructor(A={}){this.type="ray",this.name=A.name,this.parent=A.parent||"",this.selfHit=A.selfHit||!1,this.noRotation=A.noRotation||!1,this.begin=A.begin||[0,0,0],this.end=A.end||[0,0,1]}getPoint(){if(this.parent){const A=C.byName(this.parent);if(A){const g=havok.HP_Body_GetQTransform(A)[1],I=g[0],B=this.noRotation?[0,0,0,1]:g[1];return[N.applyTransformArray(this.begin,I,B),N.applyTransformArray(this.end,I,B)]}}return[this.begin,this.end]}}class Y extends k{constructor(){super(),this.Utils=C,this.type="body",this.itype="body",this.num=F[this.type],this.full=!1,this.kinematic={}}setFull(A){this.num=F[A?"bodyFull":"body"],this.full=A}reset(){this.kinematic={},super.reset()}clear(A,g){return A.isKinematic&&delete this.kinematic[A.name],super.clear(A,g)}postStep(){let A,g;for(let I in this.kinematic)A=this.kinematic[I],A.first?(g=A.transform,A.first=!1):(g=havok.HP_Body_GetQTransform(A)[1],havok.HP_Body_SetTargetQTransform(A,N.lerpTransform(g,A.transform,1/Q.substep)))}step(){const A=Q.Ar,g=Q.ArPos[this.itype];let I,B,C,E,D,w,i=this.list.length;for(;i--;)I=this.list[i],B=g+i*this.num,w=1===havok.HP_Body_GetActivationState(I)[1].value,A[B]=w?0:1,I.sleep||(C=havok.HP_Body_GetQTransform(I)[1],N.fillArray(C[0],A,B+1,3),N.fillArray(C[1],A,B+4,4),I.deepSleep&&(havok.HP_Body_SetActivationControl(I,havok.ActivationControl.SIMULATION_CONTROLLED),I.deepSleep=!1),this.full?(E=havok.HP_Body_GetLinearVelocity(I)[1],D=havok.HP_Body_GetAngularVelocity(I)[1],N.fillArray(E,A,B+8,3),N.fillArray(D,A,B+11,3),1===A[B]&&(A[B]=9.8*N.lengthArray(E))):I.getVelocity&&(E=havok.HP_Body_GetLinearVelocity(I)[1],D=havok.HP_Body_GetAngularVelocity(I)[1],Q.reflow.velocity[I.name]=[...E,...D]))}shape(A={}){let g,I,B,Q,C=A.type||"box",E=A.size||[1,1,1],D=A.localPos||[0,0,0],w=[D[0],D[1]-.5*E[1],D[2]],i=[D[0],D[1]+.5*E[1],D[2]],o=A.localQuat||[0,0,0,1];switch(C){case"plane":1===E[0]&&(E=[300,0,300]),E[1]=0,I=[.5*E[0],0,.5*E[2],.5*E[0],0,.5*-E[2],.5*-E[0],0,.5*-E[2],.5*-E[0],0,.5*E[2]],Q=this.getVertices(I),g=havok.HP_Shape_CreateConvexHull(Q.byteOffset,4)[1],havok._free(Q.byteOffset);break;case"box":g=havok.HP_Shape_CreateBox(D,o,E)[1];break;case"sphere":g=havok.HP_Shape_CreateSphere(D,E[0])[1];break;case"particle":g=havok.HP_Shape_CreateSphere(D,A.pSize)[1];break;case"cylinder":g=havok.HP_Shape_CreateCylinder(w,i,E[0])[1];break;case"capsule":g=havok.HP_Shape_CreateCapsule(w,i,E[0])[1];break;case"convex":B=Math.floor(A.v.length/3),Q=this.getVertices(A.v),g=havok.HP_Shape_CreateConvexHull(Q.byteOffset,B)[1],havok._free(Q.byteOffset);break;case"mesh":B=A.v.length/3,Q=this.getVertices(A.v);let C=A.index.length/3,F=this.getTriangles(A.index);g=havok.HP_Shape_CreateMesh(Q.byteOffset,B,F.byteOffset,C)[1],havok._free(Q.byteOffset),havok._free(F.byteOffset)}return A.density&&havok.HP_Shape_SetDensity(g,A.density),A.isTrigger&&havok.HP_Shape_SetTrigger(g,!0),this.setMaterial(g,A),this.setFilter(g,A),g.volume=void 0!==A.volume?A.volume:N.getVolume(C,E,A.v),g}getVertices(A){const g=A.length,I=4*g,B=havok._malloc(I),Q=new Float32Array(havok.HEAPU8.buffer,B,g);for(let I=0;I<g;I++)Q[I]=A[I];return Q}getTriangles(A,g=!1){const I=A.length,B=I/3,Q=4*I,C=havok._malloc(Q),E=new Int32Array(havok.HEAPU8.buffer,C,I);let D,w=B,i=0;for(;w--;)D=3*i,g?(E[D+0]=A[D+2],E[D+1]=A[D+1],E[D+2]=A[D+0]):(E[D+0]=A[D+0],E[D+1]=A[D+1],E[D+2]=A[D+2]),i++;return E}setFilter(A,g){g.mask||(g.mask=-1),g.group||(g.group="body"===this.type?1:2),havok.HP_Shape_SetFilterInfo(A,[g.group,g.mask])}setMaterial(A,g){const I=void 0!==g.friction?g.friction:.5,B=void 0!==g.staticFriction?g.staticFriction:I,Q=void 0!==g.restitution?g.restitution:0,C=g.frictionMode??"GEOMETRIC_MEAN",E=g.restitutionMode??"GEOMETRIC_MEAN",D=[B,I,Q,this.materialCombine(C),this.materialCombine(E)];havok.HP_Shape_SetMaterial(A,D)}materialCombine(A){switch(A){case"GEOMETRIC_MEAN":case"geo":return havok.MaterialCombine.GEOMETRIC_MEAN;case"MINIMUM":case"min":return havok.MaterialCombine.MINIMUM;case"MAXIMUM":case"max":return havok.MaterialCombine.MAXIMUM;case"ARITHMETIC_MEAN":case"num":return havok.MaterialCombine.ARITHMETIC_MEAN;case"MULTIPLY":case"mult":return havok.MaterialCombine.MULTIPLY}}add(A={}){let g=this.setName(A);const I="body"===this.type?A.kinematic?"KINEMATIC":"DYNAMIC":"STATIC";let B,C=havok.HP_Body_Create()[1];switch(A.type){case"null":B=havok.HP_Shape_CreateContainer()[1],havok.HP_Body_SetShape(C,B),this.applyMass(C,B,A);break;case"compound":let g;B=havok.HP_Shape_CreateContainer()[1];for(let I=0;I<A.shapes.length;I++){g=A.shapes[I],void 0!==A.density&&(g.density=A.density),void 0!==A.friction&&(g.friction=A.friction),void 0!==A.restitution&&(g.restitution=A.restitution),void 0!==A.mask&&(g.collisionMask=A.mask),void 0!==A.group&&(g.collisionGroup=A.group),g.localQuat&&delete g.localQuat,g.localPos&&delete g.localPos;let Q=[g.pos||[0,0,0],g.quat||[0,0,0,1],[1,1,1]];havok.HP_Shape_AddChild(B,this.shape(g),Q)}havok.HP_Body_SetShape(C,B),this.applyMass(C,B,A);break;default:A.shapeType&&(A.type=A.shapeType),B=this.shape(A),havok.HP_Body_SetShape(C,B),this.applyMass(C,B,A)}C.name=g,C.type=this.type,C.breakable=A.breakable||!1,C.trigger=A.isTrigger||!1,C.isKinematic=A.kinematic||!1,C.isKinematic&&(this.kinematic[C.name]=C,C.first=!0),C.button=A.button||!1,C.transform=[A.pos||[0,0,0],A.quat||[0,0,0,1]],C.isKinematic&&havok.HP_Body_SetTargetQTransform(C,C.transform),havok.HP_Body_SetQTransform(C,C.transform),A.pos&&delete A.pos,A.quat&&delete A.quat,A.mass&&delete A.mass,havok.HP_Body_SetMotionType(C,havok.MotionType[I]),void 0!==A.kinematic&&delete A.kinematic,havok.HP_World_AddBody(Q.world,C,A.sleep||!1),this.addToWorld(C,A.id),this.set(A,C)}applyMass(A,g,I){if("solid"===this.type)return;let B=[[0,0,0],1,[1,1,1],[0,0,0,1]];const Q=havok.HP_Body_GetShape(A);if(Q[0]==havok.Result.RESULT_OK){const A=havok.HP_Shape_BuildMassProperties(Q[1]);A[0]==havok.Result.RESULT_OK&&(B=A[1])}I.massCenter&&(B[0]=I.massCenter),void 0!==I.mass&&(B[1]=I.mass),I.inertia&&(B[2]=I.inertia),I.inertiaOrientation&&(B[3]=I.inertiaOrientation),havok.HP_Body_SetMassProperties(A,B)}setMassInfo(A,g){const I=havok.HP_Body_GetMassProperties(A)[1];g.linearFactor&&(I[2]=N.mulArray(I[2],g.linearFactor)),g.angularFactor&&(I[3]=N.mulArray(I[3],g.angularFactor)),g.massCenter&&(I[0]=g.massCenter),g.mass&&(I[1]=g.mass),g.inertia&&(I[2]=g.inertia),g.inertiaOrientation&&(I[3]=g.inertiaOrientation),havok.HP_Body_SetMassProperties(A,I)}getMassInfo(A){const g=havok.HP_Body_GetMassProperties(A)[1],I={centerOfMass:g[0],mass:g[1],inertia:g[2],inertiaOrientation:g[3],damping:[havok.HP_Body_GetLinearDamping(A)[1],havok.HP_Body_GetAngularDamping(A)[1]]};console.log(I)}set(A={},g=null){if(null===g&&(g=this.byName(A.name)),null!==g){if(void 0!==A.getVelocity&&(g.getVelocity=A.getVelocity),void 0!==A.kinematic&&(havok.HP_Body_SetMotionType(g,havok.MotionType[A.kinematic?"KINEMATIC":"DYNAMIC"]),g.isKinematic=A.kinematic,g.isKinematic?this.kinematic[g.name]=g:delete this.kinematic[g.name]),void 0!==A.gravityScale&&havok.HP_Body_SetGravityFactor(g,A.gravityScale),void 0!==A.gravityFactor&&havok.HP_Body_SetGravityFactor(g,A.gravityFactor),void 0!==A.gravity&&havok.HP_Body_SetGravityFactor(g,A.gravity?1:0),A.sleep&&(havok.HP_Body_SetActivationState(g,havok.ActivationState.INACTIVE),g.deepSleep=!0,havok.HP_Body_SetActivationControl(g,havok.ActivationControl.ALWAYS_INACTIVE)),(A.activate||A.wake)&&(havok.HP_Body_SetActivationControl(g,havok.ActivationControl.SIMULATION_CONTROLLED),havok.HP_Body_SetActivationState(g,havok.ActivationState.ACTIVE)),void 0!==A.neverSleep&&havok.HP_Body_SetActivationControl(g,A.neverSleep?havok.ActivationControl.ALWAYS_ACTIVE:havok.ActivationControl.SIMULATION_CONTROLLED),void 0!==A.alwaySleep&&havok.HP_Body_SetActivationControl(g,A.alwaySleep?havok.ActivationControl.ALWAYS_INACTIVE:havok.ActivationControl.SIMULATION_CONTROLLED),A.priority&&havok.HP_Body_SetActivationPriority(g,A.priority),A.pos||A.quat){let I;A.pos||(I=havok.HP_Body_GetQTransform(g)[1],A.pos=I[0]),A.quat||(I=havok.HP_Body_GetQTransform(g)[1],A.quat=I[1]),g.transform=[A.pos,A.quat],g.isKinematic||havok.HP_Body_SetQTransform(g,g.transform)}if(A.damping&&(havok.HP_Body_SetLinearDamping(g,A.damping[0]),havok.HP_Body_SetAngularDamping(g,A.damping[1])),A.force){let I=A.forceMode||"force",B=A.forcePosition?A.forcePosition:havok.HP_Body_GetPosition(g)[1];"force"===I&&(A.force=N.scaleArray(A.force,Q.timestep,3)),havok.HP_Body_ApplyImpulse(g,B,A.force)}A.impulse&&(A.impulseCenter?havok.HP_Body_ApplyImpulse(g,A.impulseCenter,A.impulse):havok.HP_Body_ApplyImpulse(g,havok.HP_Body_GetPosition(g)[1],A.impulse)),A.angularImpulse&&havok.HP_Body_ApplyAngularImpulse(g,A.angularImpulse),A.torque&&havok.HP_Body_ApplyAngularImpulse(g,A.torque),A.linearVelocity&&(A.linear=A.linearVelocity),A.angularVelocity&&(A.angular=A.angularVelocity),void 0!==A.velocityOperation?this.velocityOperation(A,g):(A.linear&&havok.HP_Body_SetLinearVelocity(g,A.linear),A.angular&&havok.HP_Body_SetAngularVelocity(g,A.angular)),A.reset&&(havok.HP_Body_SetLinearVelocity(g,[0,0,0]),havok.HP_Body_SetAngularVelocity(g,[0,0,0])),A.inertiaScale&&(A.linearFactor=A.inertiaScale),(A.linearFactor||A.angularFactor)&&this.setMassInfo(g,A),A.massInfo&&this.getMassInfo(g)}}velocityOperation(A,g){let I=havok.HP_Body_GetLinearVelocity(g)[1],B=havok.HP_Body_GetAngularVelocity(g)[1];switch(A.velocityOperation){case"xz":A.linear&&(I=[A.linear[0],I[1],A.linear[2]]);break;case"add":A.linear&&(I=N.addArray(I,A.linear,3)),A.angular&&(B=N.addArray(B,A.angular,3));break;case"sub":A.linear&&(I=N.subArray(I,A.linear,3)),A.angular&&(B=N.subArray(B,A.angular,3));break;case"multy":A.linear&&(I=N.mulArray(I,A.linear,3)),A.angular&&(B=N.mulArray(B,A.angular,3));break;case"lerp":A.linear&&(I=N.lerpArray(I,A.linear,A.time)),A.angular&&(B=N.lerpArray(B,A.angular,A.time));break;case"step":A.linear&&(I=N.mulArray(I,Q.substep)),A.angular&&(B=N.mulArray(B,Q.substep));break;case"local":let C=havok.HP_Body_GetQTransform(g)[1][1];A.linear&&(I=N.applyQuaternion(I,C)),A.angular&&(B=N.applyQuaternion(B,C))}havok.HP_Body_SetLinearVelocity(g,I),havok.HP_Body_SetAngularVelocity(g,B)}getBoundingBox(A){const g=havok.HP_Shape_GetBoundingBox(A,[[0,0,0],[0,0,0,1]])[1];return{min:[g[0][0],g[0][1],g[0][2]],max:[g[1][0],g[1][1],g[1][2]]}}addCollisionCallback(A,g){if(A.trigger){let I=havok.HP_Body_GetShape(A)[1];havok.HP_Shape_SetTrigger(I,g)}else{const I=havok.EventType.COLLISION_STARTED.value|havok.EventType.COLLISION_CONTINUED.value|havok.EventType.COLLISION_FINISHED.value;havok.HP_Body_SetEventMask(A,g?I:0)}}freeze(A,g){g?(havok.HP_Body_SetGravityFactor(A,0),havok.HP_Body_SetLinearVelocity(A,[0,0,0]),havok.HP_Body_SetAngularVelocity(A,[0,0,0]),A.sleep=!0):A.sleep&&(havok.HP_Body_SetGravityFactor(A,1),A.sleep=!1)}setShapes(A={},g=null){}}class s extends k{constructor(){super(),this.Utils=C,this.type="joint",this.LimitMode={FREE:havok.ConstraintAxisLimitMode.FREE,LIMITED:havok.ConstraintAxisLimitMode.LIMITED,LOCKED:havok.ConstraintAxisLimitMode.LOCKED},this.ConstraintAxis={LINEAR_X:havok.ConstraintAxis.LINEAR_X,LINEAR_Y:havok.ConstraintAxis.LINEAR_Y,LINEAR_Z:havok.ConstraintAxis.LINEAR_Z,ANGULAR_X:havok.ConstraintAxis.ANGULAR_X,ANGULAR_Y:havok.ConstraintAxis.ANGULAR_Y,ANGULAR_Z:havok.ConstraintAxis.ANGULAR_Z,LINEAR_DISTANCE:havok.ConstraintAxis.LINEAR_DISTANCE},this.MotorType={NONE:havok.ConstraintMotorType.NONE,VELOCITY:havok.ConstraintMotorType.VELOCITY,POSITION:havok.ConstraintMotorType.POSITION,SPRING_FORCE:havok.ConstraintMotorType.SPRING_FORCE,SPRING_ACCELERATION:havok.ConstraintMotorType.SPRING_ACCELERATION},this.convert={x:"LINEAR_X",y:"LINEAR_Y",z:"LINEAR_Z",rx:"ANGULAR_X",ry:"ANGULAR_Y",rz:"ANGULAR_Z",distance:"LINEAR_DISTANCE",twist:"ANGULAR_X",swing1:"ANGULAR_Y",swing2:"ANGULAR_Z",free:"FREE",locked:"LOCKED",limited:"LIMITED"},this.angulars=["ANGULAR_X","ANGULAR_Y","ANGULAR_Z","rx","ry","rz"]}step(){}crossVectors(A,g){const I=A[0],B=A[1],Q=A[2],C=g[0],E=g[1],D=g[2];return[B*D-Q*E,Q*C-I*D,I*E-B*C]}add(A={}){let g=this.setName(A);const I=havok.HP_Constraint_Create()[1];let B=this.byName(A.b1),Q=this.byName(A.b2);null!==B&&havok.HP_Constraint_SetParentBody(I,B),null!==Q&&havok.HP_Constraint_SetChildBody(I,Q);const C=A.pos1?A.pos1:[0,0,0],E=A.axis1?A.axis1:[1,0,0],D=N.perpendicularArray(E);havok.HP_Constraint_SetAnchorInParent(I,C,E,D);const w=A.pos2?A.pos2:[0,0,0],i=A.axis2?A.axis2:[1,0,0],o=N.perpendicularArray(i);havok.HP_Constraint_SetAnchorInChild(I,w,i,o);let F=A.mode||"hinge";switch(F){case"fixe":this.lock(I,["x","y","z","rx","ry","rz"]);break;case"hinge":this.lock(I,["x","y","z","ry","rz"]);break;case"prismatic":this.lock(I,["y","z","rx","ry","rz"]);break;case"cylindrical":this.lock(I,["y","z","ry","rz"]);break;case"spherical":case"generic":this.lock(I,["x","y","z"])}let G=void 0!==A.collision&&A.collision;havok.HP_Constraint_SetCollisionsEnabled(I,G),havok.HP_Constraint_SetEnabled(I,!0),I.name=g,I.type=this.type,I.mode=F,I.visible=void 0===A.visible||A.visible,this.set(A,I),this.addToWorld(I)}set(A={},g=null){if(null===g&&(g=this.byName(A.name)),null===g)return;let I;switch(this.ConstraintAxis,this.LimitMode,void 0!==A.enable&&havok.HP_Constraint_SetEnabled(g,A.enable),g.mode){case"hinge":A.limit&&this.setLimit(g,["rx",...A.limit]),A.spring&&this.setSpring(g,["rx",...A.spring]),A.motor&&this.setMotor(g,A.motor[1],A.motor[2],"ANGULAR_X"),void 0!==A.friction&&this.setFriction(g,A.friction,"ANGULAR_X");break;case"prismatic":A.limit&&this.setLimit(g,["x",...A.limit]),A.spring&&this.setSpring(g,["x",...A.spring]),A.friction&&this.setFriction(g,"x",A.friction);break;case"cylindrical":A.lm&&this.setLimit(g,["x",...A.lm]),A.lmr&&this.setLimit(g,["rx",...A.lmr]);break;case"spherical":A.lm&&(this.setLimit(g,["rx",...A.lm]),this.setLimit(g,["ry",...A.lm]),this.setLimit(g,["rz",...A.lm]));break;case"distance":A.limit&&this.setLimit(g,["distance",...A.limit]),A.spring&&this.setSpring(g,["distance",...A.spring]),A.friction&&this.setFriction(g,"distance",A.friction);break;case"generic":if(A.motion)for(I=A.motion.length;I--;)this.setLimitMode(g,this.convert[A.motion[I][0]],this.convert[A.motion[I][1]]);if(A.lm)for(I=A.lm.length;I--;)this.setLimit(g,A.lm[I]);if(A.motor)for(I=A.motor.length;I--;)this.setMotor(g,A.motor[I][1],A.motor[I][2],this.convert[A.motor[I][0]]);if(void 0!==A.friction){if(!A.friction instanceof Array){let g=A.friction;A.friction=[["x",g],["y",g],["z",g],["rx",g],["ry",g],["rz",g]]}for(I=A.friction.length;I--;)this.setFriction(g,A.friction[I][0],A.friction[I][1])}}}lock(A,g){let I=g.length;for(;I--;)havok.HP_Constraint_SetAxisMode(A,this.ConstraintAxis[this.convert[g[I]]],this.LimitMode.LOCKED)}setLimitMode(A,g,I){havok.HP_Constraint_SetAxisMode(A,this.ConstraintAxis[g],this.LimitMode[I])}setLimit(A,g){let I=-1!==this.angulars.indexOf(g[0])?M:1;const B=this.ConstraintAxis[this.convert[g[0]]];havok.HP_Constraint_SetAxisMode(A,B,this.LimitMode.LIMITED),havok.HP_Constraint_SetAxisMinLimit(A,B,g[1]*I),havok.HP_Constraint_SetAxisMaxLimit(A,B,g[2]*I),void 0!==g[3]&&havok.HP_Constraint_SetAxisStiffness(A,B,g[3]),void 0!==g[4]&&havok.HP_Constraint_SetAxisDamping(A,B,g[4])}setSpring(A,g){const I=this.ConstraintAxis[this.convert[g[0]]];void 0!==g[1]&&havok.HP_Constraint_SetAxisStiffness(A,I,g[1]),void 0!==g[2]&&havok.HP_Constraint_SetAxisDamping(A,I,g[2])}setFriction(A,g,I=0){const B=this.ConstraintAxis[this.convert[g]];havok.HP_Constraint_SetAxisFriction(A,B,I)}setMotor(A,g,I,B){let Q=-1!==this.angulars.indexOf(B)?M:1;const C=this.ConstraintAxis[B];havok.HP_Constraint_SetAxisMotorType(A,C,this.MotorType.VELOCITY),havok.HP_Constraint_SetAxisMotorTarget(A,C,g*Q),I&&havok.HP_Constraint_SetAxisMotorMaxForce(A,C,I)}}class L extends k{constructor(){super(),this.type="terrain",this.Utils=C}add(A){this.setName(A);let g=new J(A);this.addToWorld(g,A.id)}set(A={},g=null){null===g&&(g=this.byName(A.name)),null!==g&&g.set(A)}}class J{constructor(A){this.type="terrain",this.name=A.name,this.needUpdate=!1,this.heightField=null,this.geometry=null,this.heights=null,this.init(A)}init(A){this.size=A.size,this.sample=A.sample,this.squarSize=[this.size[0]/(this.sample[0]-1),this.size[2]/(this.sample[1]-1)],this.setData(A),this.body=havok.HP_Body_Create()[1],havok.HP_Body_SetShape(this.body,this.geometry);let g=A.pos||[0,0,0];havok.HP_Body_SetPosition(this.body,g),A.quat&&havok.HP_Body_SetOrientation(this.body,A.quat),havok.HP_World_AddBody(Q.world,this.body,!1)}setData(A){this.getVertices(A.heightData),this.divid=A.sample?A.sample:this.sample,this.scale=[this.squarSize[0],this.size[1],this.squarSize[1]],console.log(A.heightData.length,this.sample[0]*this.sample[1]),this.geometry=havok.HP_Shape_CreateHeightField(this.divid[0],this.divid[1],this.scale,this.heights.byteOffset)[1],havok._free(this.heights.byteOffset),this.setMaterial(this.geometry,A)}getVertices(A){if(!this.heights){const g=A.length,I=g*4,B=havok._malloc(I);this.heights=new Float32Array(havok.HEAPU8.buffer,B,g)}let g=A.length,I=0;for(;g--;)this.heights[g]=A[I],I++}setMaterial(A,g){if(!g.friction&&!g.restitution)return;if(.5===g.friction&&0===!g.restitution)return;const I=g.friction??.5,B=g.staticFriction??I,Q=g.restitution??0,C=g.frictionCombine??"MINIMUM",E=g.restitutionCombine??"MAXIMUM",D=[B,I,Q,this.materialCombine(C),this.materialCombine(E)];havok.HP_Shape_SetMaterial(A,D)}release(){havok.HP_World_RemoveBody(Q.world,this.body),havok.HP_Body_Release(this.body)}set(A){A.heightData&&(this.geometry&&havok.HP_Shape_Release(this.geometry),this.getVertices(A.heightData),this.geometry=havok.HP_Shape_CreateHeightField(this.divid[0],this.divid[1],this.scale,this.heights.byteOffset)[1],this.setMaterial(this.geometry,A),havok.HP_Body_SetShape(this.body,this.geometry))}}class h extends k{constructor(){super(),this.Utils=C,this.type="contact"}step(){const A=Q.Ar,g=Q.ArPos[this.type];let I,B,E,D=this.list.length;for(;D--;)I=this.list[D],B=g+D*F.contact,E=C.byContact(I.cc)?1:0,E||(E=C.byContact(I.cr)?1:0),A[B]=E}add(A={}){this.setName(A);let g=this.byName(A.b1);if(this.byName(A.b2),null===g)return;Q.bodyRef.addCollisionCallback(g,!0);let I=new f(A);this.addToWorld(I,A.id),Q.needContact=!0,Q.needTrigger=!0}}class c{constructor(){this.body=null,this.position=[0,0,0],this.normal=[0,0,0]}}class a{constructor(){this.contactOnA=new c,this.contactOnB=new c,this.impulseApplied=0,this.type=0}static readToRef(A,g,I){const B=new Int32Array(A,g),Q=new Float32Array(A,g);I.contactOnA.body=C.byId(BigInt(B[2])),I.contactOnA.position=[Q[10],Q[11],Q[12]],I.contactOnA.normal=[Q[13],Q[14],Q[15]];I.contactOnB.body=C.byId(BigInt(B[18])),I.contactOnB.position=[Q[26],Q[27],Q[28]],I.contactOnB.normal=[Q[29],Q[30],Q[31]],I.impulseApplied=Q[34],I.type=(A=>{let g="COLLISION_STARTED";switch(A){case havok.EventType.COLLISION_STARTED.value:g="COLLISION_STARTED";break;case havok.EventType.COLLISION_FINISHED.value:g="COLLISION_FINISHED";break;case havok.EventType.COLLISION_CONTINUED.value:g="COLLISION_CONTINUED"}return g})(B[0])}}class P{constructor(){this.bodyA=BigInt(0),this.bodyB=BigInt(0),this.type=0}static readToRef(A,g,I){const B=new 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