phy-engine
Version:
JavaScript 3D Physics for three.js
1 lines • 2.44 MB
JavaScript
!function(A,I){"object"==typeof exports&&"undefined"!=typeof module?I(exports):"function"==typeof define&&define.amd?define(["exports"],I):I((A="undefined"!=typeof globalThis?globalThis:A||self).RAPIER={})}(this,(function(A){"use strict";const I=new Map,g=new Map,C={Ar:null,ArPos:{},world:null,timestep:1/60,tmpStep:0,delta:0,ms:0,invDelta:0,gravity:null,key:[],reflow:{ray:[],point:{},contact:{},velocity:{},stat:{fps:0,delta:0,ms:0}}};class B{static clear(){I.clear(),g.clear()}static byName(A){return I.has(A)?I.get(A):null}static add(A){I.set(A.name,A)}static remove(A){if("ray"!==A.type&&"contact"!==A.type)switch(A.type){case"joint":C.world.removeImpulseJoint(A);break;case"body":case"solid":if(A.isValid()){let I=A.numColliders();for(;I--;)g.delete(A.collider(I));C.world.removeRigidBody(A)}}I.delete(A.name)}static stats(){}}class Q{constructor(A=0,I=0,g=0){this.x=A,this.y=I,this.z=g}copy(A){return this.x=A.x,this.y=A.y,this.z=A.z,this}toArray(A,I){let g=void 0!==A;if(g||(A=[]),A[I=I||0]=this.x,A[I+1]=this.y,A[I+2]=this.z,!g)return A}fromArray(A,I){return I=I||0,this.x=A[I],this.y=A[I+1],this.z=A[I+2],this}sub(A){return this.x-=A.x,this.y-=A.y,this.z-=A.z,this}add(A){return this.x+=A.x,this.y+=A.y,this.z+=A.z,this}set(A,I,g){return this.x=A,this.y=I,this.z=g,this}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}distanceTo(A){const I=this.x-A.x,g=this.y-A.y,C=this.z-A.z;return Math.sqrt(I*I+g*g+C*C)}multiplyScalar(A){return this.x*=A,this.y*=A,this.z*=A,this}divideScalar(A){return this.multiplyScalar(1/A)}normalize(){return this.divideScalar(this.length()||1)}}class E{constructor(A=0,I=0,g=0,C=1){this.x=A,this.y=I,this.z=g,this.w=C}copy(A){return this.x=A.x,this.y=A.y,this.z=A.z,this.w=A.w,this}toArray(A,I){let g=void 0!==A;if(g||(A=[]),A[I=I||0]=this.x,A[I+1]=this.y,A[I+2]=this.z,A[I+3]=this.w,!g)return A}fromArray(A,I){return I=I||0,this.x=A[I],this.y=A[I+1],this.z=A[I+2],this.w=A[I+3],this}set(A,I,g,C){return 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C=I[0],B=I[1],Q=I[2],E=I[3],i=C+C,D=B+B,o=Q+Q,w=C*i,S=C*D,G=C*o,k=B*D,U=B*o,M=Q*o,h=E*i,y=E*D,J=E*o,s=g[0],K=g[1],F=g[2];return[(1-(k+M))*s,(S+J)*s,(G-y)*s,0,(S-J)*K,(1-(w+M))*K,(U+h)*K,0,(G+y)*F,(U-h)*F,(1-(w+k))*F,0,A[0],A[1],A[2],1]},multiplyMatrixArray:(A,I)=>{const g=A,C=I,B=[],Q=g[0],E=g[4],i=g[8],D=g[12],o=g[1],w=g[5],S=g[9],G=g[13],k=g[2],U=g[6],M=g[10],h=g[14],y=g[3],J=g[7],s=g[11],K=g[15],F=C[0],N=C[4],a=C[8],R=C[12],Y=C[1],L=C[5],c=C[9],q=C[13],l=C[2],H=C[6],t=C[10],e=C[14],r=C[3],p=C[7],T=C[11],O=C[15];return B[0]=Q*F+E*Y+i*l+D*r,B[4]=Q*N+E*L+i*H+D*p,B[8]=Q*a+E*c+i*t+D*T,B[12]=Q*R+E*q+i*e+D*O,B[1]=o*F+w*Y+S*l+G*r,B[5]=o*N+w*L+S*H+G*p,B[9]=o*a+w*c+S*t+G*T,B[13]=o*R+w*q+S*e+G*O,B[2]=k*F+U*Y+M*l+h*r,B[6]=k*N+U*L+M*H+h*p,B[10]=k*a+U*c+M*t+h*T,B[14]=k*R+U*q+M*e+h*O,B[3]=y*F+J*Y+s*l+K*r,B[7]=y*N+J*L+s*H+K*p,B[11]=y*a+J*c+s*t+K*T,B[15]=y*R+J*q+s*e+K*O,B},invertMatrixArray:A=>{const 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I=A,g=I[0],C=I[4],B=I[8],Q=I[12],E=I[1],i=I[5],D=I[9],o=I[13],w=I[2],S=I[6],G=I[10],k=I[14];return I[3]*(+Q*D*S-B*o*S-Q*i*G+C*o*G+B*i*k-C*D*k)+I[7]*(+g*D*k-g*o*G+Q*E*G-B*E*k+B*o*w-Q*D*w)+I[11]*(+g*o*S-g*i*k-Q*E*S+C*E*k+Q*i*w-C*o*w)+I[15]*(-B*i*w-g*D*S+g*i*G+B*E*S-C*E*G+C*D*w)},decomposeMatrixArray:A=>[A[12],A[13],A[14]],decomposeFullMatrixArray:A=>{const I=A;let g=s.lengthArray([I[0],I[1],I[2]]);const C=s.lengthArray([I[4],I[5],I[6]]),B=s.lengthArray([I[8],I[9],I[10]]);s.matrixArrayDeterminant(A)<0&&(g=-g);let Q=[...A];const E=1/g,i=1/C,D=1/B;Q[0]*=E,Q[1]*=E,Q[2]*=E,Q[4]*=i,Q[5]*=i,Q[6]*=i,Q[8]*=D,Q[9]*=D,Q[10]*=D;let o=s.quatFromRotationMatrix(Q);return{p:[A[12],A[13],A[14]],q:o,s:[g,C,B]}},applyTransformArray:(A,I,g,C=[1,1,1])=>{const B=s.composeMatrixArray(I,g,C),Q=A[0],E=A[1],i=A[2],D=1/(B[3]*Q+B[7]*E+B[11]*i+B[15]);return[(B[0]*Q+B[4]*E+B[8]*i+B[12])*D,(B[1]*Q+B[5]*E+B[9]*i+B[13])*D,(B[2]*Q+B[6]*E+B[10]*i+B[14])*D]},slerpQuatArray:(A,I,g)=>{if(0===g)return A;if(1===g)return I;let C=[...A];const B=A[0],Q=A[1],E=A[2],i=A[3],D=I[0],o=I[1],w=I[2],S=I[3];let G=i*S+B*D+Q*o+E*w;if(G<0?(C=[-D,-o,-w,-S],G=-G):C=[...I],G>=1)return A;const k=1-G*G;if(k<=y){const A=1-g;return C[3]=A*i+g*C[3],C[0]=A*B+g*C[0],C[1]=A*Q+g*C[1],C[2]=A*E+g*C[2],s.quatNomalize(C)}const U=Math.sqrt(k),M=Math.atan2(U,G),h=Math.sin((1-g)*M)/U,J=Math.sin(g*M)/U;return C[3]=i*h+C[3]*J,C[0]=B*h+C[0]*J,C[1]=Q*h+C[1]*J,C[2]=E*h+C[2]*J,C},toLocalQuatArray:(A=[0,0,0],I)=>{let g=s.quatFromEuler(A),C=s.quatInvert(I.quaternion.toArray());return s.quatMultiply(C,g)},quatFromRotationMatrix:A=>{let I=[0,0,0,1];const g=A,C=g[0],B=g[4],Q=g[8],E=g[1],i=g[5],D=g[9],o=g[2],w=g[6],S=g[10],G=C+i+S;if(G>0){const A=.5/Math.sqrt(G+1);I[3]=.25/A,I[0]=(w-D)*A,I[1]=(Q-o)*A,I[2]=(E-B)*A}else if(C>i&&C>S){const A=2*Math.sqrt(1+C-i-S);I[3]=(w-D)/A,I[0]=.25*A,I[1]=(B+E)/A,I[2]=(Q+o)/A}else if(i>S){const A=2*Math.sqrt(1+i-C-S);I[3]=(Q-o)/A,I[0]=(B+E)/A,I[1]=.25*A,I[2]=(D+w)/A}else{const 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D[1]=Math.asin(s.clamp(C,-1,1)),Math.abs(C)<.9999999?(D[0]=Math.atan2(-Q,i),D[2]=Math.atan2(-g,I)):(D[0]=Math.atan2(E,B),D[2]=0),D},angleTo:(A,I)=>2*Math.acos(Math.abs(s.clamp(s.dotArray(A,I),-1,1))),fixedArray:(A,I)=>{let g=A.length,C=[];for(;g--;)C[g]=s.toFixed(A[g],I);return C},getSize:A=>.001*A.byteLength+"kb",perpendicularArray:A=>{const I=Math.sqrt(A[0]*A[0]+A[1]*A[1]+A[2]*A[2]);let g=Math.acos(A[1]/I);const C=Math.atan2(A[2],A[0]);g>J?g-=J:g+=J;return[I*Math.sin(g)*Math.cos(C),I*Math.cos(g),I*Math.sin(g)*Math.sin(C)]},crossArray:(A,I)=>{const g=A[0],C=A[1],B=A[2],Q=I[0],E=I[1],i=I[2];return[C*i-B*E,B*Q-g*i,g*E-C*Q]},applyQuaternion:(A,I)=>{const g=A[0],C=A[1],B=A[2],Q=I[0],E=I[1],i=I[2],D=I[3],o=2*(E*B-i*C),w=2*(i*g-Q*B),S=2*(Q*C-E*g);return[g+D*o+E*S-i*w,C+D*w+i*o-Q*S,B+D*S+Q*w-E*o]},nullArray:(A,I,g)=>{let C=0;for(;g--;)C+=A[I+g];return C},equalArray:(A,I)=>{let g=A.length;for(;g--;)if(A[g]!==I[g])return!1;return!0},lerpArray:(A,I,g)=>{if(0===g)return A;if(1===g)return I;let 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A.map((A=>A*I))},worldscale:(A,I)=>A.map((A=>A*I)),divArray:(A,I,g)=>s.mulArray(A,1/I,g),scaleArray:(A,I,g)=>s.mulArray(A,I,g),fillArray:(A,I,g=0,C)=>{for(C=C??A.length;C--;)I[g+C]=A[C]},copyArray:(A,I)=>{},cloneArray:A=>[...A],distanceArray:(A,I=[0,0,0])=>s.lengthArray(s.subArray(A,I)),normalizeArray:A=>s.divArray(A,s.lengthArray(A)||1),normalArray:(A,I=[0,0,0])=>s.normalizeArray(s.subArray(I,A)),getCenter:(A,I)=>(A.computeBoundingBox(),A.boundingBox.getCenter(I)),getVolume:(A,I,g=null)=>{let C=1,B=I;switch(A){case"sphere":C=4*Math.PI*B[0]*B[0]*B[0]/3;break;case"cone":C=Math.PI*B[0]*(.5*B[1])*2;break;case"box":C=.5*B[0]*8*(.5*B[1])*(.5*B[2]);break;case"cylinder":C=Math.PI*B[0]*B[0]*(.5*B[1])*2;break;case"capsule":C=4*Math.PI*B[0]*B[0]*B[0]/3+Math.PI*B[0]*B[0]*(.5*B[1])*2;break;case"convex":case"mesh":C=s.getConvexVolume(g)}return C},getConvexVolume:A=>{let I,g=A.length/3,C=[0,0,0],B=[0,0,0];for(;g--;)I=3*g,A[I]<C[0]?C[0]=A[I]:A[I]>B[0]&&(B[0]=A[I]),A[I+1]<C[1]?C[1]=A[I+1]:A[I+1]>B[1]&&(B[1]=A[I+1]),A[I+2]<C[2]?C[2]=A[I+2]:A[I+2]>B[2]&&(B[2]=A[I+2]);let Q=[B[0]-C[0],B[1]-C[1],B[2]-C[2]];return.5*Q[0]*8*(.5*Q[1])*(.5*Q[2])},massFromDensity:(A,I)=>A*I,densityFromMass:(A,I)=>A/I,toNonIndexed:A=>A.index?A.clone().toNonIndexed():A,getIndex:(A,I)=>!A.index||I?null:A.index.array||null,getSameVertex:A=>{const I=A.getAttribute("position"),g=I.array,C=[],B=[],Q={};new THREE.Vector3;let E,i=0;s.getHash(A);let D,o,w=!1,S=0;for(let A=0;A<I.count;A++){i=3*A,D={x:g[i],y:g[i+1],z:g[i+2],id:A},w=!1,E=C.length;for(let I=0;I<E;I++)o=C[I],D.x===o.x&&D.y===o.y&&D.z===o.z&&(w=!0,Q[A]=o.id);w||(D.id=S++,C.push(D),B.push([D.x,D.y,D.z]))}return[B,Q]},getVertex:(A,I)=>{let g=A.attributes.position.array;return I&&A.index&&(g=(A=A.clone().toNonIndexed()).attributes.position.array),g},getNormal:A=>A.attributes.normal.array,getFaces:A=>{let I=[];if(A.index){let g=A.getIndex();for(let A=0;A<g.count;A+=3)I.push([g.getX(A),g.getX(A+1),g.getX(A+2)])}else{let g=A.getAttribute("position").count;for(let A=0;A<g;A+=3)I.push([A,A+1,A+2])}return I},getConnectedFaces:A=>{const I=[];let g,C,B,Q,E,i,D,o=A.length,w=o;for(;w--;)for(C=A[w],g=o;g--;)g!==w&&(B=A[g],Q=C.filter((A=>B.includes(A))),Q.length>1&&(D=[],E=[...C],i=E.indexOf(Q[0]),E.splice(i,1),i=E.indexOf(Q[1]),E.splice(i,1),D.push(E[0]),E=[...B],i=E.indexOf(Q[0]),E.splice(i,1),i=E.indexOf(Q[1]),E.splice(i,1),D.push(E[0]),I.push(D)));return I},reduce:A=>{},barycentric:(A,I)=>{},solve:(A,I)=>{},getHash:(A,I=1e-4)=>{I=Math.max(I,Number.EPSILON);const g={},C={},B=A.getAttribute("position"),Q=B.count,E=B.array,i=.5*I,D=Math.log10(1/I),o=Math.pow(10,D),w=i*o;let S;for(let A=0;A<Q;A++){S=3*A;let I=`${~~(E[S]*o+w)},${~~(E[S+1]*o+w)},${~~(E[S+2]*o+w)}`;g[I]?g[I].push(A):g[I]=[A]}let G=0;for(let A in g)C[G++]=g[A];return C}},K=s;class F extends k{constructor(){super(),this.Utils=B,this.type="ray",this.ray=new RAPIER.Ray({x:0,y:0,z:0},{x:0,y:0,z:0}),this.v1=new Q(0,0,0),this.v2=new Q(0,0,0)}step(){const A=C.Ar,I=C.ArPos[this.type];C.reflow.ray=[];let g,B,Q,E,i=this.list.length,D=0;for(;i--;){B=I+i*G.ray,g=this.list[i],Q=g.getPoint(),A[B]=0,this.v1.fromArray(Q[0]),this.v2.fromArray(Q[1]),D=K.distanceArray(Q[0],Q[1]),A[B+1]=D,this.v2.fromArray(K.normalArray(Q[0],Q[1])),this.ray.origin=this.v1,this.ray.dir=this.v2;let o=!0;C.world.intersectionsWithRay(this.ray,D,g.solid,(I=>{let D=I.collider._parent.name;if(!g.selfHit&&g.parent&&D===g.parent)return!0;if(!o)return!0;o=!1,A[B]=1;let w=this.ray.pointAt(I.toi);E=[w.x,w.y,w.z],A[B+1]=K.distanceArray(Q[0],E),A[B+2]=Q[0][0],A[B+3]=Q[0][1],A[B+4]=Q[0][2],A[B+5]=w.x,A[B+6]=w.y,A[B+7]=w.z,A[B+8]=I.normal.x,A[B+9]=I.normal.y,A[B+10]=I.normal.z,C.reflow.ray[i]=I.collider._parent.name}))}}add(A={}){this.setName(A);let I=new N(A);this.addToWorld(I,A.id)}set(A={},I=null){}}class N{constructor(A={}){this.type="ray",this.name=A.name,this.group=void 0!==A.group||68719476735,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],this.solid=!1}getPoint(){if(this.parent){const A=B.byName(this.parent);if(A){let I=A.translation(),g=A.rotation();const C=[I.x,I.y,I.z],B=this.noRotation?[0,0,0,1]:[g.x,g.y,g.z,g.w];return[K.applyTransformArray(this.begin,C,B),K.applyTransformArray(this.end,C,B)]}}return[this.begin,this.end]}}class a extends k{constructor(){super(),this.Utils=B,this.type="body",this.itype="body",this.num=G[this.type],this.full=!1,this.p=new Q,this.q=new E,this.v=new Q,this.v2=new Q,this.r=new Q}setFull(A){this.num=G[A?"bodyFull":"body"],this.full=A}step(){const A=C.Ar,I=C.ArPos[this.itype];let g,B,Q=this.list.length;for(;Q--;)g=this.list[Q],B=I+Q*this.num,A[B]=g.isSleeping()?0:1,this.p.copy(g.translation()).toArray(A,B+1),this.q.copy(g.rotation()).toArray(A,B+4),this.full&&(this.v.copy(g.linvel()).toArray(A,B+8),this.r.copy(g.angvel()).toArray(A,B+11),1===A[B]&&(A[B]=9.8*this.v.length()))}shape(A={}){let I,g,C=A.type||"box",B=A.size||[1,1,1];switch(C){case"plane":1===B[0]&&(B=[300,0,300]),g=[.5*B[0],0,.5*B[2],.5*B[0],0,.5*-B[2],.5*-B[0],0,.5*-B[2],.5*-B[0],0,.5*B[2]],I=RAPIER.ColliderDesc.convexHull(g);break;case"box":I=RAPIER.ColliderDesc.cuboid(.5*B[0],.5*B[1],.5*B[2]);break;case"ChamferBox":I=RAPIER.ColliderDesc.roundCuboid(.5*B[0],.5*B[1],.5*B[2],A.radius);break;case"sphere":I=RAPIER.ColliderDesc.ball(B[0]);break;case"cone":I=RAPIER.ColliderDesc.cone(.5*B[1],B[0]);break;case"ChamferCone":I=RAPIER.ColliderDesc.roundCone(.5*B[1],B[0],A.radius);break;case"cylinder":I=RAPIER.ColliderDesc.cylinder(.5*B[1],B[0]);break;case"ChamferCyl":I=RAPIER.ColliderDesc.roundCylinder(.5*B[1],B[0],A.radius);break;case"capsule":I=RAPIER.ColliderDesc.capsule(.5*B[1],B[0]);break;case"convex":I=RAPIER.ColliderDesc.convexHull(A.v,A.index||null);break;case"convexmesh":I=RAPIER.ColliderDesc.convexMesh(A.v,A.index||null);break;case"roundConvexHull":I=RAPIER.ColliderDesc.roundConvexHull(A.v,A.index||null,A.radius);break;case"roundConvexMesh":I=RAPIER.ColliderDesc.roundConvexMesh(A.v,A.index||null,A.radius);break;case"mesh":I=RAPIER.ColliderDesc.trimesh(A.v,A.index||null);break;case"heightfield":break;case"triangle":I=RAPIER.ColliderDesc.triangle((new Q).fromArray(A.v,0),(new Q).fromArray(A.v,3),(new Q).fromArray(A.v,6));break;case"roundTriangle":I=RAPIER.ColliderDesc.roundTriangle((new Q).fromArray(A.v,0),(new Q).fromArray(A.v,3),(new Q).fromArray(A.v,6),A.radius);break;case"segment":I=RAPIER.ColliderDesc.segment((new Q).fromArray(A.v,0),(new Q).fromArray(A.v,3));break;case"polyline":I=RAPIER.ColliderDesc.polyline(A.v,A.index||null)}let E=A.localPos||[0,0,0];I.setTranslation(E[0],E[1],E[2]),this.q.fromArray(A.localQuat||[0,0,0,1]),I.setRotation(this.q);let i=A.density||0;return void 0!==A.mass&&(i=K.densityFromMass(A.mass,K.getVolume(C,B,A.v))),I.setDensity(i),void 0!==A.friction&&(0===A.friction&&(A.friction=1e-5),I.setFriction(A.friction)),void 0!==A.restitution&&I.setRestitution(A.restitution),void 0!==A.sensor&&I.setSensor(A.sensor),void 0!==A.isTrigger&&I.setSensor(A.isTrigger),I}add(A={}){let I,B=this.setName(A);switch(this.type){case"body":I=A.kinematic?RAPIER.RigidBodyDesc.kinematicVelocityBased():RAPIER.RigidBodyDesc.dynamic();break;case"solid":I=RAPIER.RigidBodyDesc.fixed()}let Q,E=C.world.createRigidBody(I);switch(A.type){case"null":Q=C.world.createCollider(this.shape({type:"segment",v:[-.01,0,0,.01,0,0],sensor:!0}),E),g.set(Q.handle,Q);break;case"compound":let I;for(var i=0;i<A.shapes.length;i++)I=A.shapes[i],void 0!==A.density&&(I.density=A.density),void 0!==A.friction&&(I.friction=A.friction),void 0!==A.restitution&&(I.restitution=A.restitution),void 0!==A.mask&&(I.collisionMask=A.mask),void 0!==A.group&&(I.collisionGroup=A.group),I.pos&&(I.localPos=I.pos),I.quat&&(I.localQuat=I.quat),Q=C.world.createCollider(this.shape(I),E),g.set(Q.handle,Q);break;default:A.shapeType&&(A.type=A.shapeType),Q=C.world.createCollider(this.shape(A),E),g.set(Q.handle,Q)}E.name=B,E.type=this.type,E.first=!0,E.collid=Q,E.isSensor=!!A.isTrigger&&A.isTrigger,E.isKinematic=A.kinematic||!1,A.kinematic&&(E.pos=A.pos||[0,0,0],E.quat=A.quat||[0,0,0,1]),this.addToWorld(E,A.id),this.set(A,E)}set(A={},I=null){if(null===I&&(I=this.byName(A.name)),null===I)return;let g=!A.activate||A.activate;A.sleep&&(I.sleep(),g=!1),(A.activate||A.wake)&&I.wakeUp(),A.noGravity&&I.setGravityScale(0),(A.pos||A.quat)&&(A.pos&&I.setTranslation(this.v.fromArray(A.pos),g),A.quat&&I.setRotation(this.q.fromArray(A.quat),g)),A.force&&(A.force=K.scaleArray(A.force,C.timestep,3),I.addForce(this.v.fromArray(A.force),g)),A.worldForce&&I.addForceAtPoint(this.v.fromArray(A.worldForce),this.v.fromArray(A.worldForce,3),g),A.torque&&I.addTorque(this.v.fromArray(A.torque),g),A.impulse&&(A.impulseCenter?I.applyImpulseAtPoint(this.v.fromArray(A.impulse),this.v2.fromArray(A.impulseCenter),g):I.applyImpulse(this.v.fromArray(A.impulse),g)),A.angularImpulse&&I.applyTorqueImpulse(this.v.fromArray(A.angularImpulse),g),void 0!==A.linearFactor&&I.restrictTranslations(!!A.linearFactor[0],!!A.linearFactor[1],!!A.linearFactor[2],g),void 0!==A.angularFactor&&I.restrictRotations(0!==A.angularFactor[0],0!==A.angularFactor[1],0!==A.angularFactor[2],g),void 0!==A.lockPosition&&I.lockTranslations(A.lockRotation,g),void 0!==A.lockRotation&&I.lockRotations(A.lockRotation,g),A.linearVelocity&&I.setLinvel(this.v.fromArray(A.linearVelocity),g),A.angularVelocity&&I.setAngvel(this.v.fromArray(A.angularVelocity),g),void 0!==A.gravityScale&&I.setGravityScale(A.gravityScale,g),void 0!==A.gravity&&I.setGravityScale(A.gravity?1:0),A.dominance&&I.setDominanceGroup(A.dominance),A.damping&&(I.setLinearDamping(A.damping[0]),I.setAngularDamping(A.damping[1])),A.reset&&(I.setLinvel(this.v.set(0,0,0),!1),I.setAngvel(this.v.set(0,0,0),!1)),A.massInfo&&this.getMassInfo(I)}getMassInfo(A){if("string"==typeof A&&(A=this.byName(A)),null===A)return;if("body"!==this.type)return;const I={mass:A.mass()};console.log(I)}clearShapes(A={},I=null){let C=I.numColliders();for(;C--;)g.delete(I.collider(C))}setShapes(A={},I=null){let C,B=I.numColliders();for(;B--;)C=g.get(I.collider(B)),void 0!==A.density&&C.setDensity(A.density),void 0!==A.friction&&C.setFriction(A.friction),void 0!==A.restitution&&C.setRestitution(A.restitution)}}class R extends k{constructor(){super(),this.Utils=B,this.type="joint",this.v1=new Q,this.v2=new Q,this.p1=new Q,this.p2=new Q,this.q1=new E,this.q2=new E,this.q3=new E}step(){C.ArPos[this.type];let A,I=this.list.length;for(;I--;)A=this.list[I],A.visible}add(A={}){this.v;let I=this.setName(A);const g=this.byName(A.b1),B=this.byName(A.b2);g&&g.wakeUp(),B&&B.wakeUp();const Q=A.mode||"revolute";let E,i=this.v1.fromArray(A.pos1||[0,0,0]),D=this.v2.fromArray(A.pos2||[0,0,0]),o=this.q1.fromArray(A.quat1||[0,0,0,1]),w=this.q2.fromArray(A.quat2||[0,0,0,1]),S=this.p1.fromArray(A.axis1||[1,0,0]);switch(this.p2.fromArray(A.axis2||[1,0,0]),Q){case"spherical":default:E=RAPIER.JointData.spherical(i,D);break;case"hinge":case"revolute":E=RAPIER.JointData.revolute(i,D,S);break;case"slider":case"prismatic":E=RAPIER.JointData.prismatic(i,D,S);break;case"fixe":E=RAPIER.JointData.fixed(i,o,D,w)}let G=void 0!==A.collision&&A.collision;const k=C.world.createImpulseJoint(E,g,B,G);k.data=E,k.name=I,k.mode=Q,k.type=this.type,k.b1=g,k.b2=B,k.visible=!1,this.set(A,k),this.addToWorld(k,A.id)}limit(A,I=[0,0],g=!1){let C=g?1:M;A.limitsEnabled=!0,A.limits=[I[0]*C,I[1]*C]}set(A={},I=null){null===I&&(I=this.byName(A.name)),null!==I&&(void 0!==A.visible&&(I.visible=A.visible),A.lm&&this.limit(I.data,A.lm,"prismatic"===I.mode||"slider"===I.mode))}}class Y extends k{constructor(){super(),this.Utils=B,this.type="contact"}step(){const A=C.Ar,I=C.ArPos[this.type];let g,B,Q=this.list.length;for(;Q--;)g=this.list[Q],B=I+Q*G.contact,null!==g.b2?g.b1.isSensor||g.b2.isSensor?A[B]=C.world.intersectionPair(g.b1,g.b2)?1:0:(A[B]=0,C.world.contactPair(g.b1,g.b2,((I,g)=>{A[B]=1}))):g.b1.isSensor?C.world.contactsWith(g.c1,(A=>{})):C.world.contactsWith(collider,(A=>{}))}add(A={}){if(this.setName(A),A.b1=this.byName(A.b1),A.b2=this.byName(A.b2),null===A.b1)return;A.b1.collid.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);let I=new L(A);this.addToWorld(I,A.id)}}class L{constructor(A={}){this.type="contact",this.name=A.name,this.b1=A.b1||null,this.b2=A.b2||null,this.c1=null,this.c2=null,this.b1&&(this.c1=this.b1.collid),this.b2&&(this.c2=this.b2.collid),this.ignore=A.ignore||[],this.result={hit:!1,point:[0,0,0],normal:[0,0,0],distance:0}}update(){}}var c="undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{};let q;const l=new Array(128).fill(void 0);function H(A){return l[A]}l.push(void 0,null,!0,!1);let 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w=q.rawbroadphase_projectPoint(this.__wbg_ptr,A.__wbg_ptr,I.__wbg_ptr,g.__wbg_ptr,C.__wbg_ptr,B,Q,n(E)?4294967297:E>>>0,!n(i),n(i)?0:i,!n(D),n(D)?0:D,x(o));return 0===w?void 0:jA.__wrap(w)}finally{l[P++]=void 0}}projectPointAndGetFeature(A,I,g,C,B,Q,E,i,D){try{b(A,ZA),b(I,II),b(g,oA),b(C,MI);const o=q.rawbroadphase_projectPointAndGetFeature(this.__wbg_ptr,A.__wbg_ptr,I.__wbg_ptr,g.__wbg_ptr,C.__wbg_ptr,B,n(Q)?4294967297:Q>>>0,!n(E),n(E)?0:E,!n(i),n(i)?0:i,x(D));return 0===o?void 0:jA.__wrap(o)}finally{l[P++]=void 0}}intersectionsWithPoint(A,I,g,C,B,Q,E,i,D,o){try{b(A,ZA),b(I,II),b(g,oA),b(C,MI),q.rawbroadphase_intersectionsWithPoint(this.__wbg_ptr,A.__wbg_ptr,I.__wbg_ptr,g.__wbg_ptr,C.__wbg_ptr,x(B),Q,n(E)?4294967297:E>>>0,!n(i),n(i)?0:i,!n(D),n(D)?0:D,x(o))}finally{l[P++]=void 0,l[P++]=void 0}}castShape(A,I,g,C,B,Q,E,i,D,o,w,S,G,k,U){try{b(A,ZA),b(I,II),b(g,oA),b(C,MI),b(B,CI),b(Q,MI),b(E,oI);const 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0!==I&&(E=(C=I,B=g,C>>>=0,v().subarray(C/4,C/4+B)).slice(),q.__wbindgen_export_1(I,4*g,4)),E}finally{q.__wbindgen_add_to_stack_pointer(16)}var C,B}coTriMeshFlags(A){const I=q.rawcolliderset_coTriMeshFlags(this.__wbg_ptr,A);return 4294967297===I?void 0:I}coHeightFieldFlags(A){const I=q.rawcolliderset_coHeightFieldFlags(this.__wbg_ptr,A);return 4294967297===I?void 0:I}coHeightfieldHeights(A){try{const C=q.__wbindgen_add_to_stack_pointer(-16);q.rawcolliderset_coHeightfieldHeights(C,this.__wbg_ptr,A);var I=Z().getInt32(C+0,!0),g=Z().getInt32(C+4,!0);let B;return 0!==I&&(B=V(I,g).slice(),q.__wbindgen_export_1(I,4*g,4)),B}finally{q.__wbindgen_add_to_stack_pointer(16)}}coHeightfieldScale(A){const I=q.rawcolliderset_coHeightfieldScale(this.__wbg_ptr,A);return 0===I?void 0:MI.__wrap(I)}coHeightfieldNRows(A){const I=q.rawcolliderset_coHeightfieldNRows(this.__wbg_ptr,A);return 4294967297===I?void 0:I}coHeightfieldNCols(A){const I=q.rawcolliderset_coHeightfieldNCols(this.__wbg_ptr,A);return 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A=q.rawcolliderset_new();return this.__wbg_ptr=A>>>0,DA.register(this,this.__wbg_ptr,this),this}len(){return q.rawcolliderset_len(this.__wbg_ptr)>>>0}contains(A){return 0!==q.rawcolliderset_contains(this.__wbg_ptr,A)}createCollider(A,I,g,C,B,Q,E,i,D,o,w,S,G,k,U,M,h,y,J,s,K,F,N,a,R){try{const c=q.__wbindgen_add_to_stack_pointer(-16);b(I,oI),b(g,MI),b(C,CI),b(E,MI),b(i,MI),b(D,CI),b(R,II),q.rawcolliderset_createCollider(c,this.__wbg_ptr,A,I.__wbg_ptr,g.__wbg_ptr,C.__wbg_ptr,B,Q,E.__wbg_ptr,i.__wbg_ptr,D.__wbg_ptr,o,w,S,G,k,U,M,h,y,J,s,K,F,N,a,R.__wbg_ptr);var Y=Z().getInt32(c+0,!0),L=Z().getFloat64(c+8,!0);return 0===Y?void 0:L}finally{q.__wbindgen_add_to_stack_pointer(16)}}remove(A,I,g,C){b(I,rA),b(g,II),q.rawcolliderset_remove(this.__wbg_ptr,A,I.__wbg_ptr,g.__wbg_ptr,C)}isHandleValid(A){return 0!==q.rawcolliderset_contains(this.__wbg_ptr,A)}forEachColliderHandle(A){try{q.rawcolliderset_forEachColliderHandle(this.__wbg_ptr,x(A))}finally{l[P++]=void 0}}}const wA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawcollidershapecasthit_free(A>>>0,1)));class SA{static __wrap(A){A>>>=0;const I=Object.create(SA.prototype);return I.__wbg_ptr=A,wA.register(I,I.__wbg_ptr,I),I}__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,wA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawcollidershapecasthit_free(A,0)}colliderHandle(){return q.rawcharactercollision_handle(this.__wbg_ptr)}time_of_impact(){return q.rawcollidershapecasthit_time_of_impact(this.__wbg_ptr)}witness1(){const A=q.rawcollidershapecasthit_witness1(this.__wbg_ptr);return MI.__wrap(A)}witness2(){const A=q.rawcollidershapecasthit_witness2(this.__wbg_ptr);return MI.__wrap(A)}normal1(){const A=q.rawcharactercollision_translationDeltaApplied(this.__wbg_ptr);return MI.__wrap(A)}normal2(){const A=q.rawcharactercollision_translationDeltaRemaining(this.__wbg_ptr);return MI.__wrap(A)}}const GA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawcontactforceevent_free(A>>>0,1)));class kA{static __wrap(A){A>>>=0;const I=Object.create(kA.prototype);return I.__wbg_ptr=A,GA.register(I,I.__wbg_ptr,I),I}__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,GA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawcontactforceevent_free(A,0)}collider1(){return q.rawcharactercollision_handle(this.__wbg_ptr)}collider2(){return q.rawcontactforceevent_collider2(this.__wbg_ptr)}total_force(){const A=q.rawcontactforceevent_total_force(this.__wbg_ptr);return MI.__wrap(A)}total_force_magnitude(){return q.rawcontactforceevent_total_force_magnitude(this.__wbg_ptr)}max_force_direction(){const A=q.rawcontactforceevent_max_force_direction(this.__wbg_ptr);return MI.__wrap(A)}max_force_magnitude(){return q.rawcontactforceevent_max_force_magnitude(this.__wbg_ptr)}}const UA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawcontactmanifold_free(A>>>0,1)));class MA{static __wrap(A){A>>>=0;const I=Object.create(MA.prototype);return I.__wbg_ptr=A,UA.register(I,I.__wbg_ptr,I),I}__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,UA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawcontactmanifold_free(A,0)}normal(){const A=q.rawcontactmanifold_normal(this.__wbg_ptr);return MI.__wrap(A)}local_n1(){const A=q.rawcontactmanifold_local_n1(this.__wbg_ptr);return MI.__wrap(A)}local_n2(){const A=q.rawcontactmanifold_local_n2(this.__wbg_ptr);return MI.__wrap(A)}subshape1(){return q.rawcontactmanifold_subshape1(this.__wbg_ptr)>>>0}subshape2(){return q.rawcontactmanifold_subshape2(this.__wbg_ptr)>>>0}num_contacts(){return q.rawcontactmanifold_num_contacts(this.__wbg_ptr)>>>0}contact_local_p1(A){const I=q.rawcontactmanifold_contact_local_p1(this.__wbg_ptr,A);return 0===I?void 0:MI.__wrap(I)}contact_local_p2(A){const I=q.rawcontactmanifold_contact_local_p2(this.__wbg_ptr,A);return 0===I?void 0:MI.__wrap(I)}contact_dist(A){return q.rawcontactmanifold_contact_dist(this.__wbg_ptr,A)}contact_fid1(A){return q.rawcontactmanifold_contact_fid1(this.__wbg_ptr,A)>>>0}contact_fid2(A){return q.rawcontactmanifold_contact_fid2(this.__wbg_ptr,A)>>>0}contact_impulse(A){return q.rawcontactmanifold_contact_impulse(this.__wbg_ptr,A)}contact_tangent_impulse_x(A){return q.rawcontactmanifold_contact_tangent_impulse_x(this.__wbg_ptr,A)}contact_tangent_impulse_y(A){return q.rawcontactmanifold_contact_tangent_impulse_y(this.__wbg_ptr,A)}num_solver_contacts(){return q.rawcontactmanifold_num_solver_contacts(this.__wbg_ptr)>>>0}solver_contact_point(A){const I=q.rawcontactmanifold_solver_contact_point(this.__wbg_ptr,A);return 0===I?void 0:MI.__wrap(I)}solver_contact_dist(A){return q.rawcontactmanifold_solver_contact_dist(this.__wbg_ptr,A)}solver_contact_friction(A){return q.rawcontactmanifold_solver_contact_friction(this.__wbg_ptr,A)}solver_contact_restitution(A){return q.rawcontactmanifold_solver_contact_restitution(this.__wbg_ptr,A)}solver_contact_tangent_velocity(A){const I=q.rawcontactmanifold_solver_contact_tangent_velocity(this.__wbg_ptr,A);return MI.__wrap(I)}}const hA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawcontactpair_free(A>>>0,1)));class yA{static __wrap(A){A>>>=0;const I=Object.create(yA.prototype);return I.__wbg_ptr=A,hA.register(I,I.__wbg_ptr,I),I}__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,hA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawcontactpair_free(A,0)}collider1(){return q.rawcontactpair_collider1(this.__wbg_ptr)}collider2(){return q.rawcontactpair_collider2(this.__wbg_ptr)}numContactManifolds(){return q.rawcontactpair_numContactManifolds(this.__wbg_ptr)>>>0}contactManifold(A){const I=q.rawcontactpair_contactManifold(this.__wbg_ptr,A);return 0===I?void 0:MA.__wrap(I)}}const JA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawdebugrenderpipeline_free(A>>>0,1)));class sA{__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,JA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawdebugrenderpipeline_free(A,0)}constructor(){const A=q.rawdebugrenderpipeline_new();return this.__wbg_ptr=A>>>0,JA.register(this,this.__wbg_ptr,this),this}vertices(){return f(q.rawdebugrenderpipeline_vertices(this.__wbg_ptr))}colors(){return f(q.rawdebugrenderpipeline_colors(this.__wbg_ptr))}render(A,I,g,C,B,Q,E){try{b(A,II),b(I,oA),b(g,lA),b(C,nA),b(B,ZA),q.rawdebugrenderpipeline_render(this.__wbg_ptr,A.__wbg_ptr,I.__wbg_ptr,g.__wbg_ptr,C.__wbg_ptr,B.__wbg_ptr,Q,x(E))}finally{l[P++]=void 0}}}const KA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawdeserializedworld_free(A>>>0,1)));class FA{static __wrap(A){A>>>=0;const I=Object.create(FA.prototype);return I.__wbg_ptr=A,KA.register(I,I.__wbg_ptr,I),I}__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,KA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawdeserializedworld_free(A,0)}takeGravity(){const A=q.rawdeserializedworld_takeGravity(this.__wbg_ptr);return 0===A?void 0:MI.__wrap(A)}takeIntegrationParameters(){const A=q.rawdeserializedworld_takeIntegrationParameters(this.__wbg_ptr);return 0===A?void 0:tA.__wrap(A)}takeIslandManager(){const A=q.rawdeserializedworld_takeIslandManager(this.__wbg_ptr);return 0===A?void 0:rA.__wrap(A)}takeBroadPhase(){const A=q.rawdeserializedworld_takeBroadPhase(this.__wbg_ptr);return 0===A?void 0:CA.__wrap(A)}takeNarrowPhase(){const A=q.rawdeserializedworld_takeNarrowPhase(this.__wbg_ptr);return 0===A?void 0:ZA.__wrap(A)}takeBodies(){const A=q.rawdeserializedworld_takeBodies(this.__wbg_ptr);return 0===A?void 0:II.__wrap(A)}takeColliders(){const A=q.rawdeserializedworld_takeColliders(this.__wbg_ptr);return 0===A?void 0:oA.__wrap(A)}takeImpulseJoints(){const A=q.rawdeserializedworld_takeImpulseJoints(this.__wbg_ptr);return 0===A?void 0:lA.__wrap(A)}takeMultibodyJoints(){const A=q.rawdeserializedworld_takeMultibodyJoints(this.__wbg_ptr);return 0===A?void 0:nA.__wrap(A)}}const NA="undefined"==typeof FinalizationRegistry?{register:()=>{},unregister:()=>{}}:new FinalizationRegistry((A=>q.__wbg_rawdynamicraycastvehiclecontroller_free(A>>>0,1)));class aA{__destroy_into_raw(){const A=this.__wbg_ptr;return this.__wbg_ptr=0,NA.unregister(this),A}free(){const A=this.__destroy_into_raw();q.__wbg_rawdynamicraycastvehiclecontroller_free(A,0)}constructor(A){const I=q.rawdynamicraycastvehiclecontroller_new(A);return this.__wbg_ptr=I>>>0,NA.register(this,this.__wbg_ptr,this),this}current_vehicle_speed(){return q.rawdynamicraycastvehiclecontroller_current_vehicle_speed(this.__wbg_ptr)}chassis(){return q.rawdynamicraycastvehiclecontroller_chassis(this.__wbg_ptr)}index_up_axis(){return q.rawdynamicraycastvehiclecontroller_index_up_axis(this.__wbg_ptr)>>>0}set_index_up_axis(A){q.rawdynamicraycastvehiclecontroller_set_index_up_axis(this.__wbg_ptr,A)}index_forward_axis(){return q.rawdynamicraycastvehiclecontroller_index_forward_axis(this.__wbg_ptr)>>>0}set_index_forward_axis(A){q.rawdynamicraycastvehiclecontroller_set_index_forward_axis(this.__wbg_ptr,A)}add_wheel(A,I,g,C,B){b(A,MI),b(I,MI),b(g,MI),q.rawdynamicraycastvehiclecontroller_add_wheel(this.__wbg_ptr,A.__wbg_ptr,I.__wbg_ptr,g.__wbg_ptr,C,B)}num_wheels(){return q.rawdynamicraycastvehiclecontroller_num_wheels