diff --git a/.claude/settings.json b/.claude/settings.json new file mode 100644 index 00000000..969b3c02 --- /dev/null +++ b/.claude/settings.json @@ -0,0 +1,8 @@ +{ + "enabledPlugins": { + "claude-md-management@claude-plugins-official": true, + "code-review@claude-plugins-official": true, + "ralph-loop@claude-plugins-official": true, + "typescript-lsp@claude-plugins-official": true + } +} diff --git a/.oxfmtrc.json b/.oxfmtrc.json new file mode 100644 index 00000000..bac22f3a --- /dev/null +++ b/.oxfmtrc.json @@ -0,0 +1,21 @@ +{ + "$schema": "./node_modules/oxfmt/configuration_schema.json", + "experimentalSortPackageJson": true, + "experimentalSortImports": { + "groups": [ + ["type-import", "value-builtin", "value-external"], + ["type-internal", "value-internal"], + ["type-parent", "type-sibling", "type-index"], + ["value-parent", "value-sibling", "value-index"], + "unknown" + ], + "sortSideEffects": false, + "partitionByNewline": false, + "newlinesBetween": false + }, + "tabWidth": 4, + "bracketSpacing": false, + "trailingComma": "all", + "printWidth": 100, + "ignorePatterns": ["pkg", "gen2d", "gen3d", "docs", "target", "dist", "wasm", "crates"] +} diff --git a/.oxlintrc.json b/.oxlintrc.json new file mode 100644 index 00000000..4c9a6b5d --- /dev/null +++ b/.oxlintrc.json @@ -0,0 +1,17 @@ +{ + "$schema": "./node_modules/oxlint/configuration_schema.json", + "plugins": [], + "categories": { + "correctness": "off", + "suspicious": "off" + }, + "rules": { + "no-unused-vars": "error" + }, + "settings": {}, + "env": { + "builtin": true + }, + "globals": {}, + "ignorePatterns": [] +} diff --git a/.prettierignore b/.prettierignore deleted file mode 100644 index 24ed3cdd..00000000 --- a/.prettierignore +++ /dev/null @@ -1,7 +0,0 @@ -pkg -gen2d -gen3d -docs -target -**/CHANGELOG.md -**/README.md \ No newline at end of file diff --git a/.prettierrc b/.prettierrc deleted file mode 100644 index 5a3e1430..00000000 --- a/.prettierrc +++ /dev/null @@ -1,5 +0,0 @@ -{ - "tabWidth": 4, - "bracketSpacing": false, - "trailingComma": "all" -} diff --git a/.vscode/settings.json b/.vscode/settings.json index 60770265..ee74de7a 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,4 +1,3 @@ { - "javascript.format.enable": false, - "typescript.format.enable": false + "editor.defaultFormatter": "oxc.oxc-vscode" } diff --git a/CHANGELOG.md b/CHANGELOG.md index 413325bf..05b6b0dd 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -168,24 +168,23 @@ See [parry#336](https://github.com/dimforge/parry/pull/336) for additional infor - Update to Rapier 0.24. - Package tree shaking has been disabled to avoid a crash on certain build configuration (#289). - Multiple packages with different feature sets are now released, and their build process has been automated (#309) - - Released packages are: - - rapier2d - - rapier2d-compat - - rapier2d-simd - - rapier2d-simd-compat - - rapier2d-deterministic - - rapier2d-deterministic-compat - - rapier3d - - rapier3d-compat - - rapier2d - - rapier2d-compat - - rapier3d-simd - - rapier3d-simd-compat - - rapier3d-deterministic - - rapier3d-deterministic-compat - - :warning: To this occasion, existing packages `rapier2d` and `rapier3d` are now built without `enhanced-determinism` feature enabled, - so if you rely on that feature, you should migrate to the new `-deterministic` flavor. - + - Released packages are: + - rapier2d + - rapier2d-compat + - rapier2d-simd + - rapier2d-simd-compat + - rapier2d-deterministic + - rapier2d-deterministic-compat + - rapier3d + - rapier3d-compat + - rapier2d + - rapier2d-compat + - rapier3d-simd + - rapier3d-simd-compat + - rapier3d-deterministic + - rapier3d-deterministic-compat + - :warning: To this occasion, existing packages `rapier2d` and `rapier3d` are now built without `enhanced-determinism` feature enabled, + so if you rely on that feature, you should migrate to the new `-deterministic` flavor. ### 0.14.0 (20 July 2024) diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 00000000..a99acb84 --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,219 @@ +# CLAUDE.md - AI Assistant Context for rapier.js + +## Project Overview + +This is a **fork** of rapier.js - TypeScript bindings for the Rapier physics engine (Rust → WASM). + +## Prerequisites + +- Node.js 24+ +- pnpm (`npm install -g pnpm`) +- Rust toolchain (`rustup`) +- wasm-pack (`cargo install wasm-pack`) + +- **Package scope**: `@alexandernanberg/rapier-{2d,3d}` +- **Monorepo**: pnpm workspaces +- **Stack**: Rust + wasm-bindgen → WASM, TypeScript bindings + +### Performance Goals + +1. Minimize JS↔WASM boundary crossings +2. Avoid temporary object allocations in hot paths +3. Prefer getters over methods for simple computed values + +## Repository Structure + +``` +crates/ + rapier-wasm-2d/ # WASM crate for 2D (uses shared src/) + rapier-wasm-3d/ # WASM crate for 3D (uses shared src/) + +packages/ + rapier-2d/ # TypeScript bindings for 2D physics + rapier-3d/ # TypeScript bindings for 3D physics + testbed2d/ # 2D demo application + testbed3d/ # 3D demo application +``` + +## Package Variants + +Each package (`rapier-2d`, `rapier-3d`) ships 4 variants: + +| Import Path | WASM Loading | SIMD | +| ---------------------------- | -------------------- | ---- | +| `@.../rapier-2d` | `fetch()` at runtime | No | +| `@.../rapier-2d/simd` | `fetch()` at runtime | Yes | +| `@.../rapier-2d/compat` | Embedded base64 | No | +| `@.../rapier-2d/compat-simd` | Embedded base64 | Yes | + +**Usage**: + +- Default/SIMD: Best for web apps (smaller bundle, parallel loading) +- Compat variants: For environments without `fetch()` (SSR, workers, tests) + +## Build Commands + +```bash +pnpm build # Full build (WASM + TypeScript) +pnpm build:wasm # All WASM variants +pnpm build:ts # TypeScript packages only +pnpm build:2d # 2D only (WASM + TS) +pnpm build:3d # 3D only (WASM + TS) +pnpm typecheck # Type check all packages +pnpm fmt # Format code with oxfmt +pnpm dev:testbed2d # Run 2D demo +pnpm dev:testbed3d # Run 3D demo +``` + +## Benchmarks + +Run performance benchmarks to measure physics engine performance: + +```bash +pnpm bench # Full 3D benchmark +pnpm bench:2d # Full 2D benchmark +pnpm bench:quick # Quick mode (fewer iterations) +``` + +**Benchmark categories:** + +- **Simulation**: `world.step()` performance with stacked bodies +- **Lifecycle**: Body creation/destruction throughput +- **Queries**: Ray casting and point projection performance +- **Getters**: Property access with/without allocation + +Results are saved to `packages/benchmarks/results/` as timestamped JSON files. + +## Critical Memory Management Patterns + +### Rule 1: Always `init()` Before API Use + +```typescript +import RAPIER from "@alexandernanberg/rapier-2d"; + +await RAPIER.init(); // REQUIRED before any API calls +const world = new RAPIER.World({x: 0, y: -9.81}); +``` + +### Rule 2: Free Raw Objects After `intoRaw()` Calls + +When passing data to WASM, temporary raw objects must be freed: + +```typescript +// CORRECT - free raw objects after use +let rawOrig = VectorOps.intoRaw(ray.origin); +let rawDir = VectorOps.intoRaw(ray.dir); + +let result = this.raw.castRay(rawOrig, rawDir, maxToi); + +rawOrig.free(); // REQUIRED +rawDir.free(); // REQUIRED + +return result; +``` + +```typescript +// WRONG - memory leak +let rawOrig = VectorOps.intoRaw(ray.origin); +let rawDir = VectorOps.intoRaw(ray.dir); +return this.raw.castRay(rawOrig, rawDir, maxToi); +// rawOrig and rawDir are never freed! +``` + +### Rule 3: `fromRaw()` Auto-Frees, `intoRaw()` Does Not + +- `fromRaw(raw)`: Consumes and frees the raw object automatically +- `intoRaw()`: Returns raw object that YOU must free + +### Rule 4: Free World/Controller Resources + +Classes with `raw` property need explicit cleanup: + +```typescript +class KinematicCharacterController { + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined; + } +} +``` + +## Zero-Allocation Getters + +For hot paths, use the optional `target` parameter to avoid allocations: + +```typescript +// Allocating (creates new object each call) +const pos = body.translation(); + +// Zero-allocation (reuses existing object) +const _pos = {x: 0, y: 0, z: 0}; +body.translation(_pos); // writes into _pos +``` + +Supported methods: `translation()`, `rotation()`, `linvel()`, `angvel()`, +`nextTranslation()`, `nextRotation()`, `localCom()`, `worldCom()` on RigidBody, +and `translation()`, `rotation()` on Collider. + +## 2D vs 3D Differences + +| Concept | 2D | 3D | +| -------- | ------------------------------------------ | ---------------------------------- | +| Rotation | `number` (radians) | `Quaternion` `{x,y,z,w}` | +| Vector | `{x, y}` | `{x, y, z}` | +| Shapes | Ball, Cuboid, Capsule, ConvexPolygon, etc. | + ConvexPolyhedron, Cylinder, Cone | + +## Common Pitfalls + +1. **Memory leaks**: Missing `.free()` after `intoRaw()` calls +2. **Uninitialized WASM**: Calling API before `await init()` +3. **Wrong rotation type**: Using quaternion in 2D or number in 3D +4. **Stale handles**: Using `RigidBodyHandle` after body removed from world + +## Key Type Patterns + +### Handles vs Objects + +```typescript +// Handle = lightweight reference (number) +type RigidBodyHandle = number; +type ColliderHandle = number; + +// Get actual object from set using handle +const body = world.getRigidBody(handle); +``` + +### Descriptor Pattern + +```typescript +// Use descriptors to configure before creation +const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(0, 5); + +const body = world.createRigidBody(bodyDesc); +``` + +## File Navigation Hints + +| Looking for... | Check | +| -------------------- | ------------------------------------------------------------- | +| Shape definitions | `packages/rapier-{2d,3d}/src/geometry/shape.ts` | +| Rigid body API | `packages/rapier-{2d,3d}/src/dynamics/rigid_body.ts` | +| World/simulation | `packages/rapier-{2d,3d}/src/pipeline/world.ts` | +| Collision detection | `packages/rapier-{2d,3d}/src/geometry/narrow_phase.ts` | +| Ray/shape casting | `packages/rapier-{2d,3d}/src/geometry/broad_phase.ts` | +| Character controller | `packages/rapier-{2d,3d}/src/control/character_controller.ts` | +| WASM init logic | `packages/rapier-{2d,3d}/src/init.ts`, `init-compat.ts` | +| Math utilities | `packages/rapier-{2d,3d}/src/math.ts` | + +## Testing + +Testbeds serve as integration tests: + +```bash +pnpm dev:testbed2d # http://localhost:5173 +pnpm dev:testbed3d # http://localhost:5173 +``` + +Demo files in `packages/testbed{2d,3d}/src/demos/` show usage patterns. diff --git a/Cargo.lock b/Cargo.lock index 0d2a5111..28e60291 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2,86 +2,12 @@ # It is not intended for manual editing. version = 4 -[[package]] -name = "aho-corasick" -version = "1.1.3" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916" -dependencies = [ - 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- Build status -

- Website | Documentation | - 2D examples (sources) | - 3D examples (sources) + Website | Documentation

@@ -24,59 +19,160 @@

2D and 3D physics engines -for the JavaScript programming language (official bindings). +for the JavaScript programming language.

--- -## Building packages manually +## Fork Differences + +This is a fork of [@dimforge/rapier.js](https://github.com/dimforge/rapier.js) with performance improvements and modernized tooling. + +### Why This Fork? + +1. **Latest Rapier**: Rapier 0.32 (official npm is on 0.29) +2. **Zero-allocation getters**: Optional `target` parameter avoids object creation in hot paths +3. **Optimized WASM boundary**: Ray casting passes primitives directly instead of temporary WASM objects +4. **Modern build**: pnpm monorepo, tsdown bundler, smaller bundles + +### Benchmarks vs Official + +Comparison against `@dimforge/rapier3d-compat@0.19.3` (3D, 1000 bodies): + +| Benchmark | Fork | Official | Improvement | +| -------------------- | -------- | -------- | ----------- | +| world.step() | 1.37ms | 1.40ms | ~same | +| create 1000 bodies | 3.8ms | 4.1ms | **7%** | +| castRay | 2.6µs | 4.0µs | **35%** | +| body.translation() | 73µs | 210µs | **2.9x** | +| body.rotation() | 70µs | 223µs | **3.2x** | + +### What Makes It Faster + +**Zero-allocation getters (3x faster)** + +The official package allocates a new object every call: + +```typescript +// Official: allocates {x, y, z} every call +for (const body of bodies) { + const pos = body.translation(); // new object +} +``` + +This fork accepts an optional target to reuse: + +```typescript +// Fork: zero allocations +const pos = {x: 0, y: 0, z: 0}; +for (const body of bodies) { + body.translation(pos); // writes into existing object +} +``` + +Supported: `translation()`, `rotation()`, `linvel()`, `angvel()`, `nextTranslation()`, `nextRotation()`, `localCom()`, `worldCom()` + +**Optimized ray casting (35% faster)** + +Ray origin/direction passed as primitives directly to WASM, avoiding temporary `RawVector` allocations. + +Run `pnpm bench --official` to compare on your machine. + +--- + +## Installation + +```bash +# 2D physics +npm install @alexandernanberg/rapier-2d + +# 3D physics +npm install @alexandernanberg/rapier-3d +``` + +## Usage + +```typescript +import RAPIER from "@alexandernanberg/rapier-2d"; + +await RAPIER.init(); + +const gravity = {x: 0.0, y: -9.81}; +const world = new RAPIER.World(gravity); -From the root of the repository, run: +// Create a dynamic rigid body +const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(0.0, 10.0); +const body = world.createRigidBody(bodyDesc); -```shell -./builds/prepare_builds/prepare_all_projects.sh -./builds/prepare_builds/build_all_projects.sh +// Create a collider attached to the body +const colliderDesc = RAPIER.ColliderDesc.ball(0.5); +world.createCollider(colliderDesc, body); + +// Run the simulation +world.step(); +console.log(body.translation()); // { x: 0, y: ~9.99 } ``` -Note that `prepare_all_projects.sh` only needs to be run once. It needs to be re-run if any file from the -`builds/prepare_builds` directory (and subdirectories) are modified. - -The built packages will be in `builds/rapier2d/pkg`, `builds/rapier3d/pkg`, etc. To build the `-compat` variant of the -packages, run `npm run build` in the `rapier-compat` directory. Note that this will only work if you already ran -`prepare_all_projects.sh`. The compat packages are then generated in, e.g., `rapier-compat/builds/3d/pkg`. - -## Feature selection - -Multiple NPM packages exist for Rapier, depending on your needs: -- [`@dimforge/rapier2d`](https://www.npmjs.com/package/@dimforge/rapier2d) or - [`@dimforge/rapier3d`](https://www.npmjs.com/package/@dimforge/rapier3d): - The main build of the Rapier physics engine for 2D or 3D physics simulation. This should have wide browser - support while offering great performances. This does **not** guarantee cross-platform determinism of the physics - simulation (but it is still locally deterministic, on the same machine). -- [`@dimforge/rapier2d-simd`](https://www.npmjs.com/package/@dimforge/rapier2d-simd) or - [`@dimforge/rapier3d-simd`](https://www.npmjs.com/package/@dimforge/rapier3d-simd): - A build with internal SIMD optimizations enabled. More limited browser support (requires support for [simd128](https://caniuse.com/?search=simd)). -- [`@dimforge/rapier2d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic) or - [`@dimforge/rapier3d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic): - A less optimized build but with a guarantee of a cross-platform deterministic execution of the physics simulation. - -## Bundler support - -Some bundlers will struggle with the `.wasm` file package into the builds above. Alternative `-compat` versions exist -which embed the `.wasm` file into the `.js` sources encoded with base64. This results in a bigger package size, but -much wider bundler support. - -Just append `-compat` to the build you are interested in: -[`rapier2d-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-compat), -[`rapier2d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-simd-compat), -[`rapier2d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic-compat), -[`rapier3d-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-compat), -[`rapier3d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-simd-compat), -[`rapier3d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic-compat). - -## Nightly builds - -Each time a new Pull Request is merged to the `main` branch of the [`rapier.js` repository](https://github.com/dimforge/rapier.js), -an automatic _canary_ build is triggered. Builds published to npmjs under the _canary_ tag does not come with any -stability guarantee and does not follow semver versioning. But it can be a useful solution to try out the latest -features until a proper release is cut. \ No newline at end of file +## Package Variants + +Each package ships 4 variants via subpath exports: + +| Import Path | WASM Loading | SIMD | +| ----------------------------------------- | -------------------- | ---- | +| `@alexandernanberg/rapier-2d` | `fetch()` at runtime | No | +| `@alexandernanberg/rapier-2d/simd` | `fetch()` at runtime | Yes | +| `@alexandernanberg/rapier-2d/compat` | Embedded base64 | No | +| `@alexandernanberg/rapier-2d/compat-simd` | Embedded base64 | Yes | + +**When to use which:** + +- **Default/SIMD**: Best for web apps (smaller bundle, parallel loading) +- **Compat variants**: For environments without `fetch()` (SSR, workers, tests) +- **SIMD variants**: Better performance, requires [simd128 support](https://caniuse.com/?search=simd) + +## Building from Source + +### Prerequisites + +- Node.js 24+ +- pnpm (`npm install -g pnpm`) +- Rust toolchain (`rustup`) +- wasm-pack (`cargo install wasm-pack`) + +### Build Commands + +```bash +pnpm install # Install dependencies +pnpm build # Full build (WASM + TypeScript) +pnpm build:wasm # WASM only (all variants) +pnpm build:ts # TypeScript only +pnpm build:2d # 2D package only +pnpm build:3d # 3D package only +``` + +### Running Testbeds + +```bash +pnpm dev:testbed2d # http://localhost:5173 +pnpm dev:testbed3d # http://localhost:5173 +``` + +### Benchmarks + +```bash +pnpm bench # Run and compare against baseline +pnpm bench --save-baseline # Save current results as new baseline +pnpm bench --no-compare # Run without baseline comparison +pnpm bench:2d # Full 2D benchmark +pnpm bench --quick # Quick mode (fewer iterations) +``` + +**Baseline comparison:** + +- Results are compared against `packages/benchmarks/baseline.json` +- Thresholds: >15% = warning, >30% = regression +- Exit code 1 on regression (useful for CI) + +## License + +Apache 2.0 diff --git a/builds/prepare_builds/Cargo.toml b/builds/prepare_builds/Cargo.toml deleted file mode 100644 index 905de28f..00000000 --- a/builds/prepare_builds/Cargo.toml +++ /dev/null @@ -1,9 +0,0 @@ -[package] -name = "prepare_builds" -version = "0.1.0" -edition = "2021" - -[dependencies] -clap = { version = "4.5" } -clap_derive = { version = "4.5" } -tera = "1.20" diff --git a/builds/prepare_builds/README.md b/builds/prepare_builds/README.md deleted file mode 100644 index 4d05a2fa..00000000 --- a/builds/prepare_builds/README.md +++ /dev/null @@ -1,17 +0,0 @@ -# Prepare builds - -This project helps with making specific package: it takes a few parameter to create a (1) folder ready to compile. - -It uses clap so you can pass `-h` to get more info about its parameters. - -## usage - -At workspace root: `cargo run -p prepare_builds -- -d dim2 -f simd`. - -Or use provided scripts: `./builds/prepare_builds/prepare_all_projects.sh && ./builds/prepare_builds/build_all_projects.sh` - -## Technical considerations - -Askama/rinja was not chosen because compiled templates make it difficult to iterate on a folder and parse all templates. - -This folder is in `builds/` only for the workspace member glob to not complain if `builds/` is inexistent or empty. diff --git a/builds/prepare_builds/build_all_projects.sh b/builds/prepare_builds/build_all_projects.sh deleted file mode 100755 index a8ed7840..00000000 --- a/builds/prepare_builds/build_all_projects.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -for entry in builds/* -do - if [[ "$(basename "$entry")" == $(basename $(dirname "${BASH_SOURCE[0]}")) ]]; then - echo "skipping directory: $entry" - continue; - fi - ( - cd $entry - echo "building $entry" - # FIXME: ideally we'd use `npm ci` - # but we'd need to have generated the `package-lock` beforehand and committed them in the repository. - # I'm not sure yet how to store those `package-lock`s yet though. - # They should proably be similar to all packages, but I'm not sure. - npm i; - npm run build; - ) -done diff --git a/builds/prepare_builds/prepare_all_projects.sh b/builds/prepare_builds/prepare_all_projects.sh deleted file mode 100755 index bed9c147..00000000 --- a/builds/prepare_builds/prepare_all_projects.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/bin/bash - -features=(non-deterministic deterministic simd) -dims=(dim2 dim3) - -for feature in ${features[@]}; do - for dim in ${dims[@]}; do - echo "preparing dimension $dim with feature $feature" - cargo run -p prepare_builds -- -d ${dim} -f ${feature} - done -done diff --git a/builds/prepare_builds/src/main.rs b/builds/prepare_builds/src/main.rs deleted file mode 100644 index 56675e8e..00000000 --- a/builds/prepare_builds/src/main.rs +++ /dev/null @@ -1,182 +0,0 @@ -use std::{ - error::Error, - fs::{self, File}, - io::Write, - path::{Path, PathBuf}, -}; - -use clap::Parser; -use clap_derive::{Parser, ValueEnum}; -use tera::{Context, Tera}; - -/// Simple program to greet a person -#[derive(Parser, Debug)] -#[command(version, about, long_about = None)] -pub struct Args { - /// Dimension to use - #[arg(short, long)] - dim: Dimension, - - /// Features to enable - #[arg(short, long)] - feature_set: FeatureSet, -} - -#[derive(ValueEnum, Debug, Clone, Copy)] -pub enum Dimension { - Dim2, - Dim3, -} - -#[derive(ValueEnum, Default, Debug, Clone, Copy)] -pub enum FeatureSet { - #[default] - NonDeterministic, - Deterministic, - Simd, -} - -/// Values to use when creating the new build folder. -pub struct BuildValues { - /// Only the number of dimensions, as sometimes it will be prefixed by "dim" and sometimes post-fixed by "d". - pub dim: String, - /// real name of the additional features to enable in the project - pub feature_set: Vec, - pub target_dir: PathBuf, - pub template_dir: PathBuf, - pub additional_rust_flags: String, - pub additional_wasm_opt_flags: Vec, - pub js_package_name: String, -} - -impl BuildValues { - pub fn new(args: Args) -> Self { - let dim = match args.dim { - Dimension::Dim2 => "2", - Dimension::Dim3 => "3", - }; - let feature_set = match args.feature_set { - FeatureSet::NonDeterministic => vec![], - FeatureSet::Deterministic => vec!["enhanced-determinism"], - FeatureSet::Simd => vec!["simd-stable"], - }; - let js_package_name = match args.feature_set { - FeatureSet::NonDeterministic => format!("rapier{dim}d"), - FeatureSet::Deterministic => format!("rapier{dim}d-deterministic"), - FeatureSet::Simd => format!("rapier{dim}d-simd"), - }; - - let root: PathBuf = env!("CARGO_MANIFEST_DIR").into(); - - Self { - dim: dim.to_string(), - feature_set: feature_set.iter().map(|f| f.to_string()).collect(), - template_dir: root.join("templates/").clone(), - target_dir: root.parent().unwrap().join(&js_package_name).into(), - additional_rust_flags: match args.feature_set { - FeatureSet::Simd => "RUSTFLAGS='-C target-feature=+simd128'".to_string(), - _ => "".to_string(), - }, - additional_wasm_opt_flags: match args.feature_set { - FeatureSet::Simd => vec!["--enable-simd".to_string()], - _ => vec![], - }, - js_package_name, - } - } -} - -fn main() { - let args = Args::parse(); - dbg!(&args); - - let build_values = BuildValues::new(args); - copy_top_level_files_in_directory(&build_values.template_dir, &build_values.target_dir) - .expect("Failed to copy directory"); - process_templates(&build_values).expect("Failed to process templates"); -} - -fn copy_top_level_files_in_directory( - src: impl AsRef, - dest: impl AsRef, -) -> std::io::Result<()> { - let src = src.as_ref(); - let dest = Path::new(&dest); - if dest.exists() { - fs::remove_dir_all(&dest)?; - } - fs::create_dir_all(&dest)?; - - for entry in fs::read_dir(src)? { - let entry = entry?; - let path = entry.path(); - let dest_path = dest.join(path.file_name().unwrap()); - - if !path.is_dir() { - fs::copy(&path, &dest_path)?; - } - } - Ok(()) -} - -/// Process all tera templates in the target directory: -/// - Remove the extension -/// - Render the templates to -/// -fn process_templates(build_values: &BuildValues) -> std::io::Result<()> { - let target_dir = build_values.target_dir.clone(); - - let mut context = Context::new(); - context.insert("dimension", &build_values.dim); - context.insert("additional_features", &build_values.feature_set); - context.insert("additional_rust_flags", &build_values.additional_rust_flags); - context.insert( - "additional_wasm_opt_flags", - &build_values.additional_wasm_opt_flags, - ); - context.insert("js_package_name", &build_values.js_package_name); - - let tera = match Tera::new(target_dir.join("**/*.tera").to_str().unwrap()) { - Ok(t) => t, - Err(e) => { - eprintln!("Parsing error(s): {}", e); - ::std::process::exit(1); - } - }; - dbg!(tera.templates.keys(), &context); - - for entry in fs::read_dir(target_dir)? { - let entry = entry?; - let path = entry.path(); - // For tera templates, remove extension. - if path.extension() == Some(std::ffi::OsStr::new("tera")) { - let mut i = path.iter(); - - // Get path from target directory - for _ in i - .by_ref() - .take_while(|c| *c != build_values.target_dir.file_name().unwrap()) - {} - let path_template = i.as_path(); - match tera.render(path_template.to_str().unwrap(), &context) { - Ok(s) => { - let old_path = path.clone(); - let new_path = path.with_extension(""); - let mut file = File::create(path.join(new_path))?; - file.write_all(s.as_bytes())?; - std::fs::remove_file(old_path)?; - } - Err(e) => { - eprintln!("Error: {}", e); - let mut cause = e.source(); - while let Some(e) = cause { - eprintln!("Reason: {}", e); - cause = e.source(); - } - } - }; - } - } - - Ok(()) -} diff --git a/builds/prepare_builds/templates/Cargo.toml.tera b/builds/prepare_builds/templates/Cargo.toml.tera deleted file mode 100644 index af9756d1..00000000 --- a/builds/prepare_builds/templates/Cargo.toml.tera +++ /dev/null @@ -1,60 +0,0 @@ -[package] -name = "dimforge_{{ js_package_name }}" # Can't be named rapier{{ dimension }}d which conflicts with the dependency. -version = "0.19.3" -authors = ["Sébastien Crozet "] -description = "{{ dimension }}-dimensional physics engine in Rust - official JS bindings." -documentation = "https://rapier.rs/rustdoc/rapier{{ dimension }}d/index.html" -homepage = "https://rapier.rs" -repository = "https://github.com/dimforge/rapier.js" -readme = "README.md" -keywords = ["physics", "dynamics", "rigid", "real-time", "joints"] -license = "Apache-2.0" -edition = "2018" - -[features] -default = ["dim{{ dimension }}"] -dim{{ dimension }} = [] - -[lib] -name = "rapier_wasm{{ dimension }}d" -path = "../../src/lib.rs" -crate-type = ["cdylib", "rlib"] -required-features = ["dim{{ dimension }}"] - -[lints] -rust.unexpected_cfgs = { level = "warn", check-cfg = [ - 'cfg(feature, values("dim{% if dimension == "2" %}3{% else %}2{% endif %}"))', -] } - -[dependencies] -rapier{{ dimension }}d = { version = "0.30.1", features = [ - "serde-serialize", - "debug-render", - "profiler", - {%- for feature in additional_features %} - "{{ feature }}", - {%- endfor %} -] } -# The explicit dependency to parry only needed to pin the patch version. -parry{{ dimension }}d = { version = "^0.25.3" } -ref-cast = "1" -wasm-bindgen = "0.2.100" -js-sys = "0.3" -nalgebra = "0.34" -serde = { version = "1", features = ["derive", "rc"] } -bincode = "1" -palette = "0.7" - -[package.metadata.wasm-pack.profile.release] -# add -g to keep debug symbols -wasm-opt = [ - '-O4', - '--dce', - # The two options below are needed because of: https://github.com/rustwasm/wasm-pack/issues/1501 - '--enable-bulk-memory', - '--enable-nontrapping-float-to-int', - {%- for flag in additional_wasm_opt_flags %} - '{{ flag }}', - {%- endfor %} -] -#wasm-opt = ['-g'] diff --git a/builds/prepare_builds/templates/LICENSE b/builds/prepare_builds/templates/LICENSE deleted file mode 100644 index e579674d..00000000 --- a/builds/prepare_builds/templates/LICENSE +++ /dev/null @@ -1,201 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright 2020 Dimforge EURL - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. diff --git a/builds/prepare_builds/templates/README.md.tera b/builds/prepare_builds/templates/README.md.tera deleted file mode 100644 index 3455eab2..00000000 --- a/builds/prepare_builds/templates/README.md.tera +++ /dev/null @@ -1,70 +0,0 @@ -

- crates.io -

-

- - - - - Build status - - - crates.io - - - npm version - - - - -

-

- - Website | Documentation - -

- ---- - -

-{{ dimension }}D physics engine -for the JavaScript programming language (official bindings). -

- ---- - -## Feature selection - -Multiple NPM packages exist for Rapier, depending on your needs: -- [`@dimforge/rapier2d`](https://www.npmjs.com/package/@dimforge/rapier2d) or - [`@dimforge/rapier3d`](https://www.npmjs.com/package/@dimforge/rapier3d): - The main build of the Rapier physics engine for 2D or 3D physics simulation. This should have wide browser - support while offering great performances. This does **not** guarantee cross-platform determinism of the physics - simulation (but it is still locally deterministic, on the same machine). -- [`@dimforge/rapier2d-simd`](https://www.npmjs.com/package/@dimforge/rapier2d-simd) or - [`@dimforge/rapier3d-simd`](https://www.npmjs.com/package/@dimforge/rapier3d-simd): - A build with internal SIMD optimizations enabled. More limited browser support (requires support for [simd128](https://caniuse.com/?search=simd)). -- [`@dimforge/rapier2d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic) or - [`@dimforge/rapier3d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic): - A less optimized build but with a guarantee of a cross-platform deterministic execution of the physics simulation. - -## Bundler support - -Some bundlers will struggle with the `.wasm` file package into the builds above. Alternative `-compat` versions exist -which embed the `.wasm` file into the `.js` sources encoded with base64. This results in a bigger package size, but -much wider bundler support. - -Just append `-compat` to the build you are interested in: -[`rapier2d-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-compat), -[`rapier2d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-simd-compat), -[`rapier2d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic-compat), -[`rapier3d-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-compat), -[`rapier3d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-simd-compat), -[`rapier3d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic-compat). - -## Nightly builds - -Each time a new Pull Request is merged to the `main` branch of the [`rapier.js` repository](https://github.com/dimforge/rapier.js), -an automatic _canary_ build is triggered. Builds published to npmjs under the _canary_ tag does not come with any -stability guarantee and does not follow semver versioning. But it can be a useful solution to try out the latest -features until a proper release is cut. \ No newline at end of file diff --git a/builds/prepare_builds/templates/build_rust.sh.tera b/builds/prepare_builds/templates/build_rust.sh.tera deleted file mode 100755 index 6fd6ae82..00000000 --- a/builds/prepare_builds/templates/build_rust.sh.tera +++ /dev/null @@ -1,15 +0,0 @@ -#!/bin/sh - -# Cleaning rust because changing rust flags may lead to different build results. -cargo clean - -{{ additional_rust_flags }} npx wasm-pack build -sed -i.bak 's#dimforge_rapier#@dimforge/rapier#g' pkg/package.json -sed -i.bak 's/"rapier_wasm{{ dimension }}d_bg.wasm"/"*"/g' pkg/package.json -( - cd pkg - npm pkg delete sideEffects - npm pkg set 'sideEffects[0]'="./*.js" -) -rm pkg/*.bak -rm pkg/.gitignore diff --git a/builds/prepare_builds/templates/build_typescript.sh.tera b/builds/prepare_builds/templates/build_typescript.sh.tera deleted file mode 100755 index 8fcce98b..00000000 --- a/builds/prepare_builds/templates/build_typescript.sh.tera +++ /dev/null @@ -1,13 +0,0 @@ -#! /bin/sh - -mkdir -p ./pkg/src -cp -r ../../src.ts/* pkg/src/. -rm -f ./pkg/raw.ts -echo 'export * from "./rapier_wasm{{ dimension }}d"' > pkg/src/raw.ts -# See https://serverfault.com/a/137848 -find pkg/ -type f -print0 | LC_ALL=C xargs -0 sed -i.bak '\:#if DIM{% if dimension == "2" %}3{% else %}2{% endif %}:,\:#endif:d' -npx tsc -# NOTE: we keep the typescripts files into the NPM package for source mapping: see #3 -sed -i.bak 's/"module": "rapier_wasm{{ dimension }}d.js"/"module": "rapier.js"/g' pkg/package.json -sed -i.bak 's/"types": "rapier_wasm{{ dimension }}d.d.ts"/"types": "rapier.d.ts"/g' pkg/package.json -find pkg/ -type f -name '*.bak' | xargs rm diff --git a/builds/prepare_builds/templates/package.json.tera b/builds/prepare_builds/templates/package.json.tera deleted file mode 100644 index 95cc5f79..00000000 --- a/builds/prepare_builds/templates/package.json.tera +++ /dev/null @@ -1,25 +0,0 @@ -{ - "name": "@dimforge/{{ js_package_name }}", - "description": "", - "private": true, - "exports": "./pkg", - "types": "./pkg/rapier.d.ts", - "scripts": { - "build": "npm run clean && npm run build:wasm && npm run build:ts && npm run build:doc", - "build:doc": "typedoc --tsconfig tsconfig_typedoc.json", - "build:wasm": "sh ./build_rust.sh", - "build:ts": "sh ./build_typescript.sh", - "clean": "rimraf pkg" - }, - "//": "Better keep rimraf version in sync with wasm-pack, see https://github.com/rustwasm/wasm-pack/issues/1444", - "devDependencies": { - "rimraf": "^3.0.2", - "typedoc": "^0.25.13" - }, - "dependencies": { - "wasm-pack": "^0.12.1" - }, - "sideEffects": [ - "./*.js" - ] -} \ No newline at end of file diff --git a/builds/prepare_builds/templates/tsconfig.json b/builds/prepare_builds/templates/tsconfig.json deleted file mode 100644 index ecdfc4ce..00000000 --- a/builds/prepare_builds/templates/tsconfig.json +++ /dev/null @@ -1,13 +0,0 @@ -{ - "compilerOptions": { - "outDir": "./pkg", - "module": "ES6", - "target": "es6", - "lib": ["es6"], - "moduleResolution": "node", - "sourceMap": true, - "declaration": true, - "rootDirs": ["./pkg", "./pkg/src"] - }, - "files": ["./pkg/src/rapier.ts"] -} diff --git a/builds/prepare_builds/templates/tsconfig_typedoc.json b/builds/prepare_builds/templates/tsconfig_typedoc.json deleted file mode 100644 index eea45699..00000000 --- a/builds/prepare_builds/templates/tsconfig_typedoc.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "compilerOptions": { - "outDir": "./pkg", - "moduleResolution": "node", - "sourceMap": true, - "declaration": true, - "lib": ["es6"] - }, - "files": ["./pkg/rapier.d.ts"] -} diff --git a/builds/prepare_builds/templates/typedoc.json.tera b/builds/prepare_builds/templates/typedoc.json.tera deleted file mode 100644 index d96bb7a6..00000000 --- a/builds/prepare_builds/templates/typedoc.json.tera +++ /dev/null @@ -1,42 +0,0 @@ -{ - "$schema": "https://typedoc.org/schema.json", - "entryPoints": [ - "./pkg/rapier.d.ts" - ], - "out": "./docs", - "readme": "none", - "excludeExternals": true, - "excludeNotDocumented": false, - "intentionallyNotExported": [ - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawBroadPhase", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawCCDSolver", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawColliderSet", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawEventQueue", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawImpulseJointSet", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawMultibodyJointSet", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawIntegrationParameters", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawIslandManager", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawNarrowPhase", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawPhysicsPipeline", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRigidBodySet", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawSerializationPipeline", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawContactManifold", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawShape", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawGenericJoint", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawJointAxis", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRotation", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawVector", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawPointColliderProjection", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawPointProjection", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRayColliderIntersection", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRayColliderHit", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRayIntersection", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawColliderShapeCastHit", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawShapeContact", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawShapeCastHit", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawQueryPipeline", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawDeserializedWorld", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawDebugRenderPipeline", - "pkg/rapier_wasm{{ dimension }}d.d.ts:RawContactForceEvent" - ] -} \ No newline at end of file diff --git a/crates/rapier-wasm-2d/Cargo.toml b/crates/rapier-wasm-2d/Cargo.toml new file mode 100644 index 00000000..7f899037 --- /dev/null +++ b/crates/rapier-wasm-2d/Cargo.toml @@ -0,0 +1,37 @@ +[package] +name = "rapier-wasm-2d" +version = "0.19.3" +edition = "2021" +license = "Apache-2.0" +description = "2-dimensional physics engine - official WASM bindings" + +[lib] +crate-type = ["cdylib"] +path = "../../src/lib.rs" + +[features] +default = ["dim2"] +dim2 = [] +simd = ["rapier2d/simd-stable"] +deterministic = ["rapier2d/enhanced-determinism"] + +[dependencies] +rapier2d = { version = "0.32", features = ["debug-render", "serde-serialize"] } +wasm-bindgen = "0.2" +js-sys = "0.3" +serde = { version = "1", features = ["derive"] } +serde-wasm-bindgen = "0.6" +bitflags = "2" +palette = "0.7" +bincode = "1" + +[lints.rust] +unexpected_cfgs = { level = "warn", check-cfg = [ + 'cfg(feature, values("dim2", "dim3"))', +] } + +[package.metadata.wasm-pack.profile.release] +wasm-opt = ["-O4", "--all-features"] + +[package.metadata.wasm-pack.profile.dev] +wasm-opt = false diff --git a/crates/rapier-wasm-3d/Cargo.toml b/crates/rapier-wasm-3d/Cargo.toml new file mode 100644 index 00000000..4c262aee --- /dev/null +++ b/crates/rapier-wasm-3d/Cargo.toml @@ -0,0 +1,37 @@ +[package] +name = "rapier-wasm-3d" +version = "0.19.3" +edition = "2021" +license = "Apache-2.0" +description = "3-dimensional physics engine - official WASM bindings" + +[lib] +crate-type = ["cdylib"] +path = "../../src/lib.rs" + +[features] +default = ["dim3"] +dim3 = [] +simd = ["rapier3d/simd-stable"] +deterministic = ["rapier3d/enhanced-determinism"] + +[dependencies] +rapier3d = { version = "0.32", features = ["debug-render", "serde-serialize"] } +wasm-bindgen = "0.2" +js-sys = "0.3" +serde = { version = "1", features = ["derive"] } +serde-wasm-bindgen = "0.6" +bitflags = "2" +palette = "0.7" +bincode = "1" + +[lints.rust] +unexpected_cfgs = { level = "warn", check-cfg = [ + 'cfg(feature, values("dim2", "dim3"))', +] } + +[package.metadata.wasm-pack.profile.release] +wasm-opt = ["-O4", "--all-features"] + +[package.metadata.wasm-pack.profile.dev] +wasm-opt = false diff --git a/package-lock.json b/package-lock.json deleted file mode 100644 index f82e399b..00000000 --- a/package-lock.json +++ /dev/null @@ -1,506 +0,0 @@ -{ - "name": "rapier.js", - "lockfileVersion": 3, - "requires": true, - "packages": { - "": { - "devDependencies": { - 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pnpm build:wasm:2d:simd && pnpm build:wasm:3d && pnpm build:wasm:3d:simd", + "build:wasm:2d": "wasm-pack build crates/rapier-wasm-2d --target web --out-dir ../../packages/rapier-2d/wasm/release", + "build:wasm:2d:simd": "RUSTFLAGS='-C target-feature=+simd128' wasm-pack build crates/rapier-wasm-2d --target web --out-dir ../../packages/rapier-2d/wasm/release-simd -- --features simd", + "build:wasm:2d:debug": "wasm-pack build crates/rapier-wasm-2d --dev --target web --out-dir ../../packages/rapier-2d/wasm/debug", + "build:wasm:3d": "wasm-pack build crates/rapier-wasm-3d --target web --out-dir ../../packages/rapier-3d/wasm/release", + "build:wasm:3d:simd": "RUSTFLAGS='-C target-feature=+simd128' wasm-pack build crates/rapier-wasm-3d --target web --out-dir ../../packages/rapier-3d/wasm/release-simd -- --features simd", + "build:wasm:3d:debug": "wasm-pack build crates/rapier-wasm-3d --dev --target web --out-dir ../../packages/rapier-3d/wasm/debug", + "typecheck": "pnpm -r --filter './packages/rapier-*' typecheck", + "dev:testbed2d": "pnpm --filter rapier-testbed2d dev", + "dev:testbed3d": "pnpm --filter rapier-testbed3d dev", + "bench": "pnpm --filter rapier-benchmarks bench", + "bench:2d": "pnpm --filter rapier-benchmarks bench:2d", + "bench:3d": "pnpm --filter rapier-benchmarks bench:3d", + "bench:quick": "pnpm --filter rapier-benchmarks bench:quick" }, "devDependencies": { - "prettier": "2.7.1", - "typedoc": "0.23.19", - "typescript": "4.8.4", - "wasm-opt": "1.4.0", - "wasm-pack": "0.12.1" + "oxfmt": "0.27.0", + "oxlint": "1.42.0", + "typedoc": "0.28.16", + "typescript": "5.7.3", + "wasm-pack": "0.14.0" + }, + "pnpm": { + "onlyBuiltDependencies": [ + "wasm-pack" + ] } } diff --git a/packages/benchmarks/.gitignore b/packages/benchmarks/.gitignore new file mode 100644 index 00000000..ffb0b623 --- /dev/null +++ b/packages/benchmarks/.gitignore @@ -0,0 +1,2 @@ +# Benchmark results (kept locally, not committed) +results/*.json diff --git a/packages/benchmarks/baseline.json b/packages/benchmarks/baseline.json new file mode 100644 index 00000000..6e944cb1 --- /dev/null +++ b/packages/benchmarks/baseline.json @@ -0,0 +1,105 @@ +{ + "version": 1, + "created": "2026-02-01T06:17:15.413Z", + "thresholds": { + "warning": 0.15, + "regression": 0.3 + }, + "2d": { + "world.step() [200 bodies]": { + "mean": 0.1876775099999989 + }, + "create 1000 bodies+colliders": { + "mean": 2.366777049999996 + }, + "spawn+despawn 100 bodies": { + "mean": 0.3505709499999995 + }, + "castRay (100 bodies)": { + "mean": 0.002138975000000869 + }, + "castRayAndGetNormal": { + "mean": 0.003557924999999784 + }, + "intersectionsWithRay": { + "mean": 0.008877730000000384 + }, + "projectPoint": { + "mean": 0.002038750000000107 + }, + "intersectionsWithPoint": { + "mean": 0.0008520750000005251 + }, + "body.translation() [alloc]": { + "mean": 0.06057476000000435 + }, + "body.translation() [reuse]": { + "mean": 0.058471040000003145 + }, + "body.rotation() [alloc]": { + "mean": 0.05259673499999877 + }, + "body.linvel() [alloc]": { + "mean": 0.05967851499999796 + }, + "body.linvel() [reuse]": { + "mean": 0.05824997999999937 + }, + "collider.translation() [alloc]": { + "mean": 0.059001835000002244 + }, + "collider.translation() [reuse]": { + "mean": 0.05813357499999853 + } + }, + "3d": { + "world.step() [3000 bodies]": { + "mean": 1.3654188766666686 + }, + "create 1000 bodies+colliders": { + "mean": 3.834613380000012 + }, + "spawn+despawn 100 bodies": { + "mean": 0.5087609000000112 + }, + "castRay (2000 bodies)": { + "mean": 0.0026443299999964437 + }, + "castRayAndGetNormal": { + "mean": 0.002499390000000403 + }, + "intersectionsWithRay": { + "mean": 0.003971961999995756 + }, + "projectPoint": { + "mean": 0.004458305999998175 + }, + "intersectionsWithPoint": { + "mean": 0.0013663500000000112 + }, + "body.translation() [alloc]": { + "mean": 0.07256511899999828 + }, + "body.translation() [reuse]": { + "mean": 0.06424841400000286 + }, + "body.rotation() [alloc]": { + "mean": 0.06953922599999987 + }, + "body.rotation() [reuse]": { + "mean": 0.07181327700000384 + }, + "body.linvel() [alloc]": { + "mean": 0.06906284799999934 + }, + "body.linvel() [reuse]": { + "mean": 0.09025221000001375 + }, + "collider.translation() [alloc]": { + "mean": 0.07162367899999618 + }, + "collider.translation() [reuse]": { + "mean": 0.06758227600000145 + } + } +} \ No newline at end of file diff --git a/packages/benchmarks/package.json b/packages/benchmarks/package.json new file mode 100644 index 00000000..3877f5e4 --- /dev/null +++ b/packages/benchmarks/package.json @@ -0,0 +1,23 @@ +{ + "name": "rapier-benchmarks", + "private": true, + "type": "module", + "scripts": { + "bench": "tsx src/index.ts", + "bench:2d": "tsx src/index.ts --dim=2d", + "bench:3d": "tsx src/index.ts --dim=3d", + "bench:quick": "tsx src/index.ts --quick" + }, + "dependencies": { + "@alexandernanberg/rapier-2d": "workspace:*", + "@alexandernanberg/rapier-3d": "workspace:*", + "@dimforge/rapier2d-compat": "^0.19.3", + "@dimforge/rapier2d-simd-compat": "^0.19.3", + "@dimforge/rapier3d-compat": "^0.19.3", + "@dimforge/rapier3d-simd-compat": "^0.19.3" + }, + "devDependencies": { + "@types/node": "^22.19.7", + "tsx": "^4.21.0" + } +} diff --git a/packages/benchmarks/results/.gitkeep b/packages/benchmarks/results/.gitkeep new file mode 100644 index 00000000..e69de29b diff --git a/packages/benchmarks/src/baseline.ts b/packages/benchmarks/src/baseline.ts new file mode 100644 index 00000000..b2dbc6f0 --- /dev/null +++ b/packages/benchmarks/src/baseline.ts @@ -0,0 +1,159 @@ +import * as fs from "node:fs"; +import * as path from "node:path"; +import type {BenchResult} from "./runner.js"; + +export interface BaselineEntry { + mean: number; + tolerance?: number; +} + +export interface BaselineData { + version: number; + created: string; + thresholds: { + warning: number; + regression: number; + }; + "2d": Record; + "3d": Record; +} + +export type ComparisonStatus = "pass" | "warning" | "regression" | "new"; + +export interface ComparisonResult { + name: string; + mean: number; + baseline: number | null; + percentChange: number | null; + status: ComparisonStatus; +} + +const DEFAULT_THRESHOLDS = { + warning: 0.15, + regression: 0.3, +}; + +function getBaselinePath(): string { + return path.join(new URL("..", import.meta.url).pathname, "baseline.json"); +} + +export function loadBaseline(): BaselineData | null { + const baselinePath = getBaselinePath(); + + if (!fs.existsSync(baselinePath)) { + return null; + } + + try { + const content = fs.readFileSync(baselinePath, "utf-8"); + return JSON.parse(content) as BaselineData; + } catch (err) { + console.warn(`Warning: Could not load baseline file: ${err}`); + return null; + } +} + +export function saveBaseline(dim: "2d" | "3d", results: BenchResult[]): void { + const baselinePath = getBaselinePath(); + let baseline: BaselineData; + + // Load existing baseline or create new one + if (fs.existsSync(baselinePath)) { + try { + baseline = JSON.parse(fs.readFileSync(baselinePath, "utf-8")); + } catch { + baseline = createEmptyBaseline(); + } + } else { + baseline = createEmptyBaseline(); + } + + // Update the dimension's results + baseline[dim] = {}; + for (const result of results) { + baseline[dim][result.name] = { + mean: result.mean, + }; + } + + // Update timestamp + baseline.created = new Date().toISOString(); + + fs.writeFileSync(baselinePath, JSON.stringify(baseline, null, 2)); + console.log(`\nBaseline saved to ${baselinePath}`); +} + +function createEmptyBaseline(): BaselineData { + return { + version: 1, + created: new Date().toISOString(), + thresholds: DEFAULT_THRESHOLDS, + "2d": {}, + "3d": {}, + }; +} + +export function compareToBaseline( + dim: "2d" | "3d", + results: BenchResult[], + baseline: BaselineData, +): ComparisonResult[] { + const baselineEntries = baseline[dim]; + const thresholds = baseline.thresholds ?? DEFAULT_THRESHOLDS; + + return results.map((result) => { + const entry = baselineEntries[result.name]; + + if (!entry) { + return { + name: result.name, + mean: result.mean, + baseline: null, + percentChange: null, + status: "new" as ComparisonStatus, + }; + } + + const percentChange = (result.mean - entry.mean) / entry.mean; + const tolerance = entry.tolerance ?? thresholds.regression; + + let status: ComparisonStatus; + if (percentChange > tolerance) { + status = "regression"; + } else if (percentChange > thresholds.warning) { + status = "warning"; + } else { + status = "pass"; + } + + return { + name: result.name, + mean: result.mean, + baseline: entry.mean, + percentChange, + status, + }; + }); +} + +export function hasRegression(comparisons: ComparisonResult[]): boolean { + return comparisons.some((c) => c.status === "regression"); +} + +export function summarizeComparison(comparisons: ComparisonResult[]): { + warnings: number; + regressions: number; + newBenchmarks: number; +} { + let warnings = 0; + let regressions = 0; + let newBenchmarks = 0; + + for (const c of comparisons) { + if (c.status === "warning") warnings++; + else if (c.status === "regression") regressions++; + else if (c.status === "new") newBenchmarks++; + } + + return {warnings, regressions, newBenchmarks}; +} diff --git a/packages/benchmarks/src/index.ts b/packages/benchmarks/src/index.ts new file mode 100644 index 00000000..48dd06b5 --- /dev/null +++ b/packages/benchmarks/src/index.ts @@ -0,0 +1,182 @@ +import type {BenchResult} from "./runner.js"; +import { + loadBaseline, + saveBaseline, + compareToBaseline, + hasRegression, + summarizeComparison, +} from "./baseline.js"; +import {printTable, printComparisonTable, saveResults} from "./results.js"; +import {benchGetters} from "./scenarios/getters.js"; +import {benchLifecycle} from "./scenarios/lifecycle.js"; +import {benchQueries} from "./scenarios/queries.js"; +import {benchSimulation} from "./scenarios/simulation.js"; + +async function importRapier(dim: "2d" | "3d", simd: boolean, official: boolean) { + if (official) { + if (dim === "2d") { + return simd + ? await import("@dimforge/rapier2d-simd-compat") + : await import("@dimforge/rapier2d-compat"); + } else { + return simd + ? await import("@dimforge/rapier3d-simd-compat") + : await import("@dimforge/rapier3d-compat"); + } + } + // Our fork + if (dim === "2d") { + return simd + ? await import("@alexandernanberg/rapier-2d/compat-simd") + : await import("@alexandernanberg/rapier-2d/compat"); + } else { + return simd + ? await import("@alexandernanberg/rapier-3d/compat-simd") + : await import("@alexandernanberg/rapier-3d/compat"); + } +} + +const args = process.argv.slice(2); + +function parseArgs() { + let dim: "2d" | "3d" = "3d"; + let quick = false; + let saveBaselineFlag = false; + let noCompare = false; + let simd = false; + let official = false; + + for (const arg of args) { + if (arg === "--dim=2d") dim = "2d"; + else if (arg === "--dim=3d") dim = "3d"; + else if (arg === "--quick") quick = true; + else if (arg === "--save-baseline") saveBaselineFlag = true; + else if (arg === "--no-compare") noCompare = true; + else if (arg === "--simd") simd = true; + else if (arg === "--official") official = true; + else if (arg === "--help" || arg === "-h") { + console.log(` +Rapier.js Benchmark Suite + +Usage: pnpm bench [options] + +Options: + --dim=2d Run 2D benchmarks + --dim=3d Run 3D benchmarks (default) + --simd Use SIMD variant (requires simd128 support) + --official Use official @dimforge/rapier packages instead of fork + --quick Run with fewer iterations (faster, less accurate) + --save-baseline Save current results as new baseline + --no-compare Run without baseline comparison + --help, -h Show this help message + +Examples: + pnpm bench # Run fork and compare against baseline + pnpm bench --simd # Run fork with SIMD and compare + pnpm bench --official # Run with official @dimforge packages + pnpm bench --save-baseline # Save current results as new baseline + pnpm bench --no-compare # Run without baseline comparison + pnpm bench:2d # Full 2D benchmark + pnpm bench --quick # Quick 3D benchmark +`); + process.exit(0); + } + } + + return {dim, quick, saveBaselineFlag, noCompare, simd, official}; +} + +async function main() { + const {dim, quick, saveBaselineFlag, noCompare, simd, official} = parseArgs(); + const is3D = dim === "3d"; + + const modifiers = [ + quick ? "quick mode" : null, + simd ? "SIMD" : null, + official ? "official @dimforge" : null, + ].filter(Boolean); + const modifierStr = modifiers.length > 0 ? ` (${modifiers.join(", ")})` : ""; + + console.log(`\nRapier ${dim.toUpperCase()} Benchmarks${modifierStr}\n`); + + // Import the appropriate package + const RAPIER = await importRapier(dim, simd, official); + + await RAPIER.init(); + + const results: BenchResult[] = []; + + console.log("Running simulation benchmarks..."); + results.push(...(await benchSimulation(RAPIER, is3D, quick))); + + console.log("Running lifecycle benchmarks..."); + results.push(...(await benchLifecycle(RAPIER, is3D, quick))); + + console.log("Running query benchmarks..."); + results.push(...(await benchQueries(RAPIER, is3D, quick))); + + console.log("Running getter benchmarks..."); + results.push(...(await benchGetters(RAPIER, is3D, quick))); + + console.log(""); + + // Handle baseline operations + if (saveBaselineFlag) { + printTable(results); + saveBaseline(dim, results); + } else if (noCompare) { + printTable(results); + } else { + // Try to compare against baseline + const baseline = loadBaseline(); + + if (baseline && Object.keys(baseline[dim]).length > 0) { + const comparisons = compareToBaseline(dim, results, baseline); + printComparisonTable(comparisons); + + const summary = summarizeComparison(comparisons); + const parts: string[] = []; + + if (summary.newBenchmarks > 0) { + parts.push(`${summary.newBenchmarks} new`); + } + if (summary.warnings > 0) { + parts.push( + `\u26a0\ufe0f ${summary.warnings} warning${summary.warnings > 1 ? "s" : ""}`, + ); + } + if (summary.regressions > 0) { + parts.push( + `\u274c ${summary.regressions} regression${summary.regressions > 1 ? "s" : ""}`, + ); + } + + if (parts.length > 0) { + console.log(`\n${parts.join(", ")}`); + } else { + console.log("\n\u2713 All benchmarks within tolerance"); + } + + // Exit with error code if regression detected + if (hasRegression(comparisons)) { + const timestamp = Date.now(); + const resultsDir = new URL("../results", import.meta.url).pathname; + saveResults(results, `${resultsDir}/${dim}-${timestamp}.json`); + process.exit(1); + } + } else { + // No baseline exists, just print results + printTable(results); + console.log("\nNo baseline found. Run with --save-baseline to create one."); + } + } + + const timestamp = Date.now(); + const resultsDir = new URL("../results", import.meta.url).pathname; + saveResults(results, `${resultsDir}/${dim}-${timestamp}.json`); +} + +main().catch((err) => { + console.error("Benchmark failed:", err); + process.exit(1); +}); diff --git a/packages/benchmarks/src/results.ts b/packages/benchmarks/src/results.ts new file mode 100644 index 00000000..df7d6475 --- /dev/null +++ b/packages/benchmarks/src/results.ts @@ -0,0 +1,81 @@ +import * as fs from "node:fs"; +import * as path from "node:path"; +import type {ComparisonResult, ComparisonStatus} from "./baseline.js"; +import type {BenchResult} from "./runner.js"; + +export function printTable(results: BenchResult[]): void { + console.log("┌─────────────────────────────────┬──────────┬──────────┬──────────┐"); + console.log("│ Benchmark │ Mean │ Min │ Max │"); + console.log("├─────────────────────────────────┼──────────┼──────────┼──────────┤"); + for (const r of results) { + const name = r.name.slice(0, 31).padEnd(31); + const mean = formatTime(r.mean).padStart(8); + const min = formatTime(r.min).padStart(8); + const max = formatTime(r.max).padStart(8); + console.log(`│ ${name} │ ${mean} │ ${min} │ ${max} │`); + } + console.log("└─────────────────────────────────┴──────────┴──────────┴──────────┘"); +} + +export function printComparisonTable(comparisons: ComparisonResult[]): void { + console.log("┌─────────────────────────────────┬──────────┬──────────┬────────────┐"); + console.log("│ Benchmark │ Mean │ Baseline │ Status │"); + console.log("├─────────────────────────────────┼──────────┼──────────┼────────────┤"); + for (const c of comparisons) { + const name = c.name.slice(0, 31).padEnd(31); + const mean = formatTime(c.mean).padStart(8); + const baseline = c.baseline !== null ? formatTime(c.baseline).padStart(8) : " N/A"; + const status = formatStatus(c.percentChange, c.status).padEnd(10); + console.log(`│ ${name} │ ${mean} │ ${baseline} │ ${status} │`); + } + console.log("└─────────────────────────────────┴──────────┴──────────┴────────────┘"); +} + +function formatStatus(percentChange: number | null, status: ComparisonStatus): string { + if (status === "new") { + return "NEW"; + } + + if (percentChange === null) { + return "N/A"; + } + + const sign = percentChange >= 0 ? "+" : ""; + const pct = `${sign}${(percentChange * 100).toFixed(0)}%`; + + switch (status) { + case "pass": + return `${pct} \u2713`; + case "warning": + return `${pct} \u26a0\ufe0f`; + case "regression": + return `${pct} \u274c`; + default: + return pct; + } +} + +function formatTime(ms: number): string { + if (ms < 0.001) { + return `${(ms * 1000000).toFixed(0)}ns`; + } else if (ms < 1) { + return `${(ms * 1000).toFixed(1)}µs`; + } else { + return `${ms.toFixed(3)}ms`; + } +} + +export function saveResults(results: BenchResult[], filePath: string): void { + const data = { + timestamp: new Date().toISOString(), + node: process.version, + platform: process.platform, + arch: process.arch, + results, + }; + + const dir = path.dirname(filePath); + fs.mkdirSync(dir, {recursive: true}); + fs.writeFileSync(filePath, JSON.stringify(data, null, 2)); + console.log(`\nResults saved to ${filePath}`); +} diff --git a/packages/benchmarks/src/runner.ts b/packages/benchmarks/src/runner.ts new file mode 100644 index 00000000..363b07c9 --- /dev/null +++ b/packages/benchmarks/src/runner.ts @@ -0,0 +1,74 @@ +export interface BenchResult { + name: string; + category: string; + mean: number; + min: number; + max: number; + stdDev: number; + samples: number; +} + +export interface BenchOptions { + warmup: number; + iterations: number; +} + +const defaultOptions: BenchOptions = { + warmup: 100, + iterations: 1000, +}; + +export function bench(name: string, fn: () => void, opts: Partial = {}): BenchResult { + const {warmup, iterations} = {...defaultOptions, ...opts}; + + // Warmup + for (let i = 0; i < warmup; i++) fn(); + + // Collect samples + const times: number[] = []; + for (let i = 0; i < iterations; i++) { + const start = performance.now(); + fn(); + times.push(performance.now() - start); + } + + const mean = times.reduce((a, b) => a + b, 0) / times.length; + const variance = times.reduce((sum, t) => sum + (t - mean) ** 2, 0) / times.length; + + return { + name, + category: "", + mean, + min: Math.min(...times), + max: Math.max(...times), + stdDev: Math.sqrt(variance), + samples: times.length, + }; +} + +export function statsFrom(name: string, times: number[]): BenchResult { + if (times.length === 0) { + return { + name, + category: "", + mean: 0, + min: 0, + max: 0, + stdDev: 0, + samples: 0, + }; + } + + const mean = times.reduce((a, b) => a + b, 0) / times.length; + const variance = times.reduce((sum, t) => sum + (t - mean) ** 2, 0) / times.length; + + return { + name, + category: "", + mean, + min: Math.min(...times), + max: Math.max(...times), + stdDev: Math.sqrt(variance), + samples: times.length, + }; +} diff --git a/packages/benchmarks/src/scenarios/getters.ts b/packages/benchmarks/src/scenarios/getters.ts new file mode 100644 index 00000000..f91b7e1c --- /dev/null +++ b/packages/benchmarks/src/scenarios/getters.ts @@ -0,0 +1,155 @@ +import type {BenchResult} from "../runner.js"; +import {bench} from "../runner.js"; + +export async function benchGetters( + RAPIER: any, + is3D: boolean, + quick: boolean, +): Promise { + const results: BenchResult[] = []; + const bodyCount = 1000; + const opts = quick ? {warmup: 50, iterations: 200} : {warmup: 100, iterations: 1000}; + + const gravity = is3D ? {x: 0, y: -9.81, z: 0} : {x: 0, y: -9.81}; + const world = new RAPIER.World(gravity); + + const bodies: any[] = []; + const colliders: any[] = []; + + for (let i = 0; i < bodyCount; i++) { + const bodyDesc = RAPIER.RigidBodyDesc.dynamic(); + if (is3D) { + bodyDesc.setTranslation( + Math.random() * 100 - 50, + Math.random() * 100, + Math.random() * 100 - 50, + ); + } else { + bodyDesc.setTranslation(Math.random() * 100 - 50, Math.random() * 100); + } + const body = world.createRigidBody(bodyDesc); + const collider = world.createCollider(RAPIER.ColliderDesc.ball(0.5), body); + bodies.push(body); + colliders.push(collider); + } + + // Step once to initialize velocities + world.step(); + + // RigidBody getters - allocating pattern + results.push( + bench( + `body.translation() [alloc]`, + () => { + for (const b of bodies) b.translation(); + }, + opts, + ), + ); + + // Check if zero-alloc pattern is supported (our fork only) + const sampleBody = bodies[0]; + const supportsTargetParam = (() => { + try { + const target = is3D ? {x: 0, y: 0, z: 0} : {x: 0, y: 0}; + sampleBody.translation(target); + // If it returns the target object mutated, it's supported + return target.x !== undefined; + } catch { + return false; + } + })(); + + // RigidBody getters - zero-alloc pattern with target (fork only) + if (supportsTargetParam) { + const translationTarget = is3D ? {x: 0, y: 0, z: 0} : {x: 0, y: 0}; + results.push( + bench( + `body.translation() [reuse]`, + () => { + for (const b of bodies) b.translation(translationTarget); + }, + opts, + ), + ); + } + + // Rotation - allocating + results.push( + bench( + `body.rotation() [alloc]`, + () => { + for (const b of bodies) b.rotation(); + }, + opts, + ), + ); + + // Rotation - zero-alloc (fork only, 3D only) + if (supportsTargetParam && is3D) { + const rotationTarget = {x: 0, y: 0, z: 0, w: 1}; + results.push( + bench( + `body.rotation() [reuse]`, + () => { + for (const b of bodies) b.rotation(rotationTarget); + }, + opts, + ), + ); + } + + // Linear velocity - allocating + results.push( + bench( + `body.linvel() [alloc]`, + () => { + for (const b of bodies) b.linvel(); + }, + opts, + ), + ); + + // Linear velocity - zero-alloc (fork only) + if (supportsTargetParam) { + const linvelTarget = is3D ? {x: 0, y: 0, z: 0} : {x: 0, y: 0}; + results.push( + bench( + `body.linvel() [reuse]`, + () => { + for (const b of bodies) b.linvel(linvelTarget); + }, + opts, + ), + ); + } + + // Collider getters + results.push( + bench( + `collider.translation() [alloc]`, + () => { + for (const c of colliders) c.translation(); + }, + opts, + ), + ); + + // Collider translation - zero-alloc (fork only) + if (supportsTargetParam) { + const colliderTransTarget = is3D ? {x: 0, y: 0, z: 0} : {x: 0, y: 0}; + results.push( + bench( + `collider.translation() [reuse]`, + () => { + for (const c of colliders) c.translation(colliderTransTarget); + }, + opts, + ), + ); + } + + world.free(); + + return results; +} diff --git a/packages/benchmarks/src/scenarios/lifecycle.ts b/packages/benchmarks/src/scenarios/lifecycle.ts new file mode 100644 index 00000000..228481b5 --- /dev/null +++ b/packages/benchmarks/src/scenarios/lifecycle.ts @@ -0,0 +1,81 @@ +import type {BenchResult} from "../runner.js"; +import {bench} from "../runner.js"; + +export async function benchLifecycle( + RAPIER: any, + is3D: boolean, + quick: boolean, +): Promise { + const results: BenchResult[] = []; + const opts = quick ? {warmup: 5, iterations: 20} : {warmup: 10, iterations: 100}; + + const gravity = is3D ? {x: 0, y: -9.81, z: 0} : {x: 0, y: -9.81}; + + // Batch creation of bodies with colliders + results.push( + bench( + "create 1000 bodies+colliders", + () => { + const world = new RAPIER.World(gravity); + for (let i = 0; i < 1000; i++) { + const body = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic()); + world.createCollider(RAPIER.ColliderDesc.ball(0.5), body); + } + world.free(); + }, + opts, + ), + ); + + // Create world for spawn/despawn test + const world = new RAPIER.World(gravity); + + // Pre-create some bodies to have a realistic scenario + const staticBodies = []; + for (let i = 0; i < 100; i++) { + const body = world.createRigidBody(RAPIER.RigidBodyDesc.fixed()); + if (is3D) { + world.createCollider(RAPIER.ColliderDesc.cuboid(1, 1, 1), body); + } else { + world.createCollider(RAPIER.ColliderDesc.cuboid(1, 1), body); + } + staticBodies.push(body); + } + + // Spawn/despawn churn (fountain pattern) + results.push( + bench( + "spawn+despawn 100 bodies", + () => { + const bodies = []; + + // Spawn 100 bodies + for (let i = 0; i < 100; i++) { + const bodyDesc = RAPIER.RigidBodyDesc.dynamic(); + if (is3D) { + bodyDesc.setTranslation( + Math.random() * 10 - 5, + Math.random() * 10, + Math.random() * 10 - 5, + ); + } else { + bodyDesc.setTranslation(Math.random() * 10 - 5, Math.random() * 10); + } + const body = world.createRigidBody(bodyDesc); + world.createCollider(RAPIER.ColliderDesc.ball(0.3), body); + bodies.push(body); + } + + // Despawn all + for (const body of bodies) { + world.removeRigidBody(body); + } + }, + opts, + ), + ); + + world.free(); + + return results; +} diff --git a/packages/benchmarks/src/scenarios/queries.ts b/packages/benchmarks/src/scenarios/queries.ts new file mode 100644 index 00000000..9d135255 --- /dev/null +++ b/packages/benchmarks/src/scenarios/queries.ts @@ -0,0 +1,86 @@ +import type {BenchResult} from "../runner.js"; +import {bench} from "../runner.js"; +import {createSparseWorld} from "../worlds/sparse.js"; + +export async function benchQueries( + RAPIER: any, + is3D: boolean, + quick: boolean, +): Promise { + const results: BenchResult[] = []; + const bodyCount = quick ? 500 : 2000; + const opts = quick ? {warmup: 50, iterations: 200} : {warmup: 100, iterations: 1000}; + + const world = createSparseWorld(RAPIER, is3D, bodyCount); + + // Let bodies settle + for (let i = 0; i < 60; i++) world.step(); + + const origin = is3D ? {x: 0, y: 50, z: 0} : {x: 0, y: 50}; + const dir = is3D ? {x: 0, y: -1, z: 0} : {x: 0, y: -1}; + const ray = new RAPIER.Ray(origin, dir); + + // Single ray cast + results.push( + bench( + `castRay (${bodyCount} bodies)`, + () => { + world.castRay(ray, 100, true); + }, + opts, + ), + ); + + // Ray cast with normal + results.push( + bench( + `castRayAndGetNormal`, + () => { + world.castRayAndGetNormal(ray, 100, true); + }, + opts, + ), + ); + + // All intersections with ray + let _hitCount = 0; + results.push( + bench( + `intersectionsWithRay`, + () => { + world.intersectionsWithRay(ray, 100, true, () => { + _hitCount++; + return true; + }); + }, + opts, + ), + ); + + // Point projection + const point: any = is3D ? {x: 0, y: 5, z: 0} : {x: 0, y: 5}; + results.push( + bench( + `projectPoint`, + () => { + world.projectPoint(point, true); + }, + opts, + ), + ); + + // Intersections with point + results.push( + bench( + `intersectionsWithPoint`, + () => { + world.intersectionsWithPoint(point, () => true); + }, + opts, + ), + ); + + world.free(); + + return results; +} diff --git a/packages/benchmarks/src/scenarios/simulation.ts b/packages/benchmarks/src/scenarios/simulation.ts new file mode 100644 index 00000000..208ded32 --- /dev/null +++ b/packages/benchmarks/src/scenarios/simulation.ts @@ -0,0 +1,66 @@ +import type {BenchResult} from "../runner.js"; +import {statsFrom} from "../runner.js"; +import {createPyramidWorld} from "../worlds/pyramid.js"; + +export async function benchSimulation( + RAPIER: any, + is3D: boolean, + quick: boolean, +): Promise { + const results: BenchResult[] = []; + const bodyCount = quick ? 500 : 3000; + + // Create pyramid world + const world = createPyramidWorld(RAPIER, is3D, bodyCount); + + // Warmup - let simulation settle + for (let i = 0; i < 60; i++) world.step(); + + // Measure step time using performance.now() + const steps = quick ? 100 : 300; + const stepTimes: number[] = []; + + for (let i = 0; i < steps; i++) { + const start = performance.now(); + world.step(); + stepTimes.push(performance.now() - start); + } + + results.push(statsFrom(`world.step() [${bodyCount} bodies]`, stepTimes)); + + // Try built-in profiler if available (our fork only) + const hasProfiler = typeof world.timingCollisionDetection === "function"; + + if (hasProfiler) { + world.profilerEnabled = true; + + // Collect built-in timing data if profiler works + const timings = { + collisionDetection: [] as number[], + broad: [] as number[], + narrow: [] as number[], + solver: [] as number[], + }; + + for (let i = 0; i < steps; i++) { + world.step(); + timings.collisionDetection.push(world.timingCollisionDetection()); + timings.broad.push(world.timingBroadPhase()); + timings.narrow.push(world.timingNarrowPhase()); + timings.solver.push(world.timingSolver()); + } + + // Only add sub-timings if the profiler is actually working + const hasProfilerData = timings.collisionDetection.some((t) => t > 0); + if (hasProfilerData) { + results.push(statsFrom("├─ collisionDetection", timings.collisionDetection)); + results.push(statsFrom("│ ├─ broadPhase", timings.broad)); + results.push(statsFrom("│ └─ narrowPhase", timings.narrow)); + results.push(statsFrom("└─ solver", timings.solver)); + } + } + + world.free(); + + return results; +} diff --git a/packages/benchmarks/src/worlds/pyramid.ts b/packages/benchmarks/src/worlds/pyramid.ts new file mode 100644 index 00000000..c6078b58 --- /dev/null +++ b/packages/benchmarks/src/worlds/pyramid.ts @@ -0,0 +1,47 @@ +import type {World} from "@alexandernanberg/rapier-3d"; + +export function createPyramidWorld(RAPIER: any, is3D: boolean, bodyCount: number): World { + const gravity = is3D ? {x: 0, y: -9.81, z: 0} : {x: 0, y: -9.81}; + const world = new RAPIER.World(gravity); + + // Create ground + const groundBody = world.createRigidBody(RAPIER.RigidBodyDesc.fixed()); + if (is3D) { + world.createCollider(RAPIER.ColliderDesc.cuboid(50, 0.1, 50), groundBody); + } else { + world.createCollider(RAPIER.ColliderDesc.cuboid(50, 0.1), groundBody); + } + + // Create pyramid of boxes + const size = 0.5; + const spacing = size * 2.1; + let created = 0; + let row = 0; + + while (created < bodyCount) { + const rowWidth = Math.ceil(Math.sqrt(bodyCount - created)); + const y = row * spacing + size + 0.2; + + for (let i = 0; i < rowWidth && created < bodyCount; i++) { + const x = (i - rowWidth / 2) * spacing; + + if (is3D) { + for (let j = 0; j < rowWidth && created < bodyCount; j++) { + const z = (j - rowWidth / 2) * spacing; + const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); + const body = world.createRigidBody(bodyDesc); + world.createCollider(RAPIER.ColliderDesc.cuboid(size, size, size), body); + created++; + } + } else { + const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y); + const body = world.createRigidBody(bodyDesc); + world.createCollider(RAPIER.ColliderDesc.cuboid(size, size), body); + created++; + } + } + row++; + } + + return world; +} diff --git a/packages/benchmarks/src/worlds/sparse.ts b/packages/benchmarks/src/worlds/sparse.ts new file mode 100644 index 00000000..7814df6f --- /dev/null +++ b/packages/benchmarks/src/worlds/sparse.ts @@ -0,0 +1,39 @@ +import type {World} from "@alexandernanberg/rapier-3d"; + +export function createSparseWorld(RAPIER: any, is3D: boolean, bodyCount: number): World { + const gravity = is3D ? {x: 0, y: -9.81, z: 0} : {x: 0, y: -9.81}; + const world = new RAPIER.World(gravity); + + // Create ground + const groundBody = world.createRigidBody(RAPIER.RigidBodyDesc.fixed()); + if (is3D) { + world.createCollider(RAPIER.ColliderDesc.cuboid(100, 0.1, 100), groundBody); + } else { + world.createCollider(RAPIER.ColliderDesc.cuboid(100, 0.1), groundBody); + } + + // Spread bodies evenly across a large area + const spread = 80; + const gridSize = Math.ceil(Math.sqrt(bodyCount)); + + for (let i = 0; i < bodyCount; i++) { + const gridX = i % gridSize; + const gridY = Math.floor(i / gridSize); + + const x = (gridX / gridSize - 0.5) * spread; + const y = 1 + Math.random() * 5; + + if (is3D) { + const z = (gridY / gridSize - 0.5) * spread; + const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); + const body = world.createRigidBody(bodyDesc); + world.createCollider(RAPIER.ColliderDesc.ball(0.5), body); + } else { + const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x + gridY * 0.1, y); + const body = world.createRigidBody(bodyDesc); + world.createCollider(RAPIER.ColliderDesc.ball(0.5), body); + } + } + + return world; +} diff --git a/packages/benchmarks/tsconfig.json b/packages/benchmarks/tsconfig.json new file mode 100644 index 00000000..6f5ce1ec --- /dev/null +++ b/packages/benchmarks/tsconfig.json @@ -0,0 +1,14 @@ +{ + "compilerOptions": { + "target": "ES2022", + "module": "ESNext", + "moduleResolution": "bundler", + "strict": true, + "esModuleInterop": true, + "skipLibCheck": true, + "declaration": false, + "outDir": "dist", + "rootDir": "src" + }, + "include": ["src/**/*"] +} diff --git a/packages/rapier-2d/package.json b/packages/rapier-2d/package.json new file mode 100644 index 00000000..7b441b1a --- /dev/null +++ b/packages/rapier-2d/package.json @@ -0,0 +1,54 @@ +{ + "name": "@alexandernanberg/rapier2d", + "version": "0.0.1", + "description": "2-dimensional physics engine - official JS bindings", + "keywords": [ + "2d", + "dynamics", + "joints", + "physics", + "rapier", + "real-time", + "rigid" + ], + "homepage": "https://rapier.rs", + "license": "Apache-2.0", + "author": "Sébastien Crozet ", + "repository": { + "type": "git", + "url": "https://github.com/dimforge/rapier.js" + }, + "files": [ + "dist" + ], + "type": "module", + "exports": { + ".": { + "types": "./dist/rapier.d.mts", + "default": "./dist/rapier.mjs" + }, + "./compat": { + "types": "./dist/compat.d.mts", + "default": "./dist/compat.mjs" + }, + "./simd": { + "types": "./dist/simd.d.mts", + "default": "./dist/simd.mjs" + }, + "./compat-simd": { + "types": "./dist/compat-simd.d.mts", + "default": "./dist/compat-simd.mjs" + } + }, + "scripts": { + "build": "tsdown", + "typecheck": "tsc --noEmit" + }, + "dependencies": { + "base64-js": "^1.5.1" + }, + "devDependencies": { + "tsdown": "^0.20.1", + "typescript": "^5.9.3" + } +} diff --git a/src.ts/coarena.ts b/packages/rapier-2d/src/coarena.ts similarity index 94% rename from src.ts/coarena.ts rename to packages/rapier-2d/src/coarena.ts index 9bf978a5..677c2458 100644 --- a/src.ts/coarena.ts +++ b/packages/rapier-2d/src/coarena.ts @@ -1,13 +1,13 @@ export class Coarena { fconv: Float64Array; uconv: Uint32Array; - data: Array; + data: Array; size: number; public constructor() { this.fconv = new Float64Array(1); this.uconv = new Uint32Array(this.fconv.buffer); - this.data = new Array(); + this.data = new Array(); this.size = 0; } @@ -34,7 +34,7 @@ export class Coarena { } public clear() { - this.data = new Array(); + this.data = new Array(); } public get(handle: number): T | null { diff --git a/src.ts/control/character_controller.ts b/packages/rapier-2d/src/control/character_controller.ts similarity index 87% rename from src.ts/control/character_controller.ts rename to packages/rapier-2d/src/control/character_controller.ts index 8e536392..4278a943 100644 --- a/src.ts/control/character_controller.ts +++ b/packages/rapier-2d/src/control/character_controller.ts @@ -1,36 +1,35 @@ -import {RawKinematicCharacterController, RawCharacterCollision} from "../raw"; -import {Rotation, Vector, VectorOps} from "../math"; +import {IntegrationParameters, RigidBodySet} from "../dynamics"; import { BroadPhase, Collider, ColliderSet, InteractionGroups, NarrowPhase, - Shape, } from "../geometry"; -import {QueryFilterFlags, World} from "../pipeline"; -import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics"; +import {Vector, VectorOps} from "../math"; +import {QueryFilterFlags} from "../pipeline"; +import {RawKinematicCharacterController, RawCharacterCollision} from "../raw"; /** * A collision between the character and an obstacle hit on its path. */ export class CharacterCollision { /** The collider involved in the collision. Null if the collider no longer exists in the physics world. */ - public collider: Collider | null; + public collider: Collider | null = null; /** The translation delta applied to the character before this collision took place. */ - public translationDeltaApplied: Vector; + public translationDeltaApplied!: Vector; /** The translation delta the character would move after this collision if there is no other obstacles. */ - public translationDeltaRemaining: Vector; + public translationDeltaRemaining!: Vector; /** The time-of-impact between the character and the obstacles. */ - public toi: number; + public toi!: number; /** The world-space contact point on the collider when the collision happens. */ - public witness1: Vector; + public witness1!: Vector; /** The local-space contact point on the character when the collision happens. */ - public witness2: Vector; + public witness2!: Vector; /** The world-space outward contact normal on the collider when the collision happens. */ - public normal1: Vector; + public normal1!: Vector; /** The local-space outward contact normal on the character when the collision happens. */ - public normal2: Vector; + public normal2!: Vector; } /** @@ -75,8 +74,8 @@ export class KinematicCharacterController { this.rawCharacterCollision.free(); } - this.raw = undefined; - this.rawCharacterCollision = undefined; + this.raw = undefined!; + this.rawCharacterCollision = undefined!; } /** @@ -91,7 +90,7 @@ export class KinematicCharacterController { */ public setUp(vector: Vector) { let rawVect = VectorOps.intoRaw(vector); - return this.raw.setUp(rawVect); + this.raw.setUp(rawVect); rawVect.free(); } @@ -186,21 +185,21 @@ export class KinematicCharacterController { * The maximum step height a character can automatically step over. */ public autostepMaxHeight(): number | null { - return this.raw.autostepMaxHeight(); + return this.raw.autostepMaxHeight() ?? null; } /** * The minimum width of free space that must be available after stepping on a stair. */ public autostepMinWidth(): number | null { - return this.raw.autostepMinWidth(); + return this.raw.autostepMinWidth() ?? null; } /** * Can the character automatically step over dynamic bodies too? */ public autostepIncludesDynamicBodies(): boolean | null { - return this.raw.autostepIncludesDynamicBodies(); + return this.raw.autostepIncludesDynamicBodies() ?? null; } /** @@ -217,11 +216,7 @@ export class KinematicCharacterController { * @param minWidth - The minimum width of free space that must be available after stepping on a stair. * @param includeDynamicBodies - Can the character automatically step over dynamic bodies too? */ - public enableAutostep( - maxHeight: number, - minWidth: number, - includeDynamicBodies: boolean, - ) { + public enableAutostep(maxHeight: number, minWidth: number, includeDynamicBodies: boolean) { this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies); } @@ -269,7 +264,7 @@ export class KinematicCharacterController { * the distance between the ground and its feet are smaller than the specified threshold? */ public snapToGroundDistance(): number | null { - return this.raw.snapToGroundDistance(); + return this.raw.snapToGroundDistance() ?? null; } /** @@ -323,9 +318,9 @@ export class KinematicCharacterController { rawTranslationDelta, this._applyImpulsesToDynamicBodies, this._characterMass, - filterFlags, + filterFlags ?? 0, filterGroups, - this.colliders.castClosure(filterPredicate), + this.colliders.castClosure(filterPredicate) as unknown as Function, ); rawTranslationDelta.free(); } @@ -334,7 +329,7 @@ export class KinematicCharacterController { * The movement computed by the last call to `this.computeColliderMovement`. */ public computedMovement(): Vector { - return VectorOps.fromRaw(this.raw.computedMovement()); + return VectorOps.fromRaw(this.raw.computedMovement())!; } /** @@ -359,26 +354,19 @@ export class KinematicCharacterController { * @param i - The i-th collision will be returned. * @param out - If this argument is set, it will be filled with the collision information. */ - public computedCollision( - i: number, - out?: CharacterCollision, - ): CharacterCollision | null { + public computedCollision(i: number, out?: CharacterCollision): CharacterCollision | null { if (!this.raw.computedCollision(i, this.rawCharacterCollision)) { return null; } else { let c = this.rawCharacterCollision; out = out ?? new CharacterCollision(); - out.translationDeltaApplied = VectorOps.fromRaw( - c.translationDeltaApplied(), - ); - out.translationDeltaRemaining = VectorOps.fromRaw( - c.translationDeltaRemaining(), - ); + out.translationDeltaApplied = VectorOps.fromRaw(c.translationDeltaApplied())!; + out.translationDeltaRemaining = VectorOps.fromRaw(c.translationDeltaRemaining())!; out.toi = c.toi(); - out.witness1 = VectorOps.fromRaw(c.worldWitness1()); - out.witness2 = VectorOps.fromRaw(c.worldWitness2()); - out.normal1 = VectorOps.fromRaw(c.worldNormal1()); - out.normal2 = VectorOps.fromRaw(c.worldNormal2()); + out.witness1 = VectorOps.fromRaw(c.worldWitness1())!; + out.witness2 = VectorOps.fromRaw(c.worldWitness2())!; + out.normal1 = VectorOps.fromRaw(c.worldNormal1())!; + out.normal2 = VectorOps.fromRaw(c.worldNormal2())!; out.collider = this.colliders.get(c.handle()); return out; } diff --git a/packages/rapier-2d/src/control/index.ts b/packages/rapier-2d/src/control/index.ts new file mode 100644 index 00000000..c1ce2286 --- /dev/null +++ b/packages/rapier-2d/src/control/index.ts @@ -0,0 +1,2 @@ +export * from "./character_controller"; +export * from "./pid_controller"; diff --git a/packages/rapier-2d/src/control/pid_controller.ts b/packages/rapier-2d/src/control/pid_controller.ts new file mode 100644 index 00000000..f4d53f5c --- /dev/null +++ b/packages/rapier-2d/src/control/pid_controller.ts @@ -0,0 +1,137 @@ +import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics"; +import {Vector, VectorOps} from "../math"; +import {RawPidController} from "../raw"; + +// TODO: unify with the JointAxesMask +/** + * An enum representing the possible joint axes controlled by a PidController. + * They can be ORed together, like: + * PidAxesMask.LinX || PidAxesMask.LinY + * to get a pid controller that only constraints the translational X and Y axes. + * + * Possible axes are: + * + * - `X`: X translation axis + * - `Y`: Y translation axis + * - `Z`: Z translation axis + * - `AngX`: X angular rotation axis (3D only) + * - `AngY`: Y angular rotation axis (3D only) + * - `AngZ`: Z angular rotation axis + */ +export enum PidAxesMask { + None = 0, + LinX = 1 << 0, + LinY = 1 << 1, + LinZ = 1 << 2, + AngZ = 1 << 5, + AllLin = PidAxesMask.LinX | PidAxesMask.LinY, + AllAng = PidAxesMask.AngZ, + All = PidAxesMask.AllLin | PidAxesMask.AllAng, +} + +/** + * A controller for controlling dynamic bodies using the + * Proportional-Integral-Derivative correction model. + */ +export class PidController { + private raw: RawPidController; + + private params: IntegrationParameters; + private bodies: RigidBodySet; + + constructor( + params: IntegrationParameters, + bodies: RigidBodySet, + kp: number, + ki: number, + kd: number, + axes: PidAxesMask, + ) { + this.params = params; + this.bodies = bodies; + this.raw = new RawPidController(kp, ki, kd, axes); + } + + /** @internal */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + + this.raw = undefined!; + } + + public setKp(kp: number, axes: PidAxesMask) { + this.raw.set_kp(kp, axes); + } + + public setKi(ki: number, axes: PidAxesMask) { + this.raw.set_kp(ki, axes); + } + + public setKd(kd: number, axes: PidAxesMask) { + this.raw.set_kp(kd, axes); + } + + public setAxes(axes: PidAxesMask) { + this.raw.set_axes_mask(axes); + } + + public resetIntegrals() { + this.raw.reset_integrals(); + } + + public applyLinearCorrection(body: RigidBody, targetPosition: Vector, targetLinvel: Vector) { + let rawPos = VectorOps.intoRaw(targetPosition); + let rawVel = VectorOps.intoRaw(targetLinvel); + this.raw.apply_linear_correction( + this.params.dt, + this.bodies.raw, + body.handle, + rawPos, + rawVel, + ); + rawPos.free(); + rawVel.free(); + } + + public applyAngularCorrection(body: RigidBody, targetRotation: number, targetAngVel: number) { + this.raw.apply_angular_correction( + this.params.dt, + this.bodies.raw, + body.handle, + targetRotation, + targetAngVel, + ); + } + + public linearCorrection(body: RigidBody, targetPosition: Vector, targetLinvel: Vector): Vector { + let rawPos = VectorOps.intoRaw(targetPosition); + let rawVel = VectorOps.intoRaw(targetLinvel); + let correction = this.raw.linear_correction( + this.params.dt, + this.bodies.raw, + body.handle, + rawPos, + rawVel, + ); + rawPos.free(); + rawVel.free(); + + return VectorOps.fromRaw(correction)!; + } + + public angularCorrection( + body: RigidBody, + targetRotation: number, + targetAngVel: number, + ): number { + return this.raw.angular_correction( + this.params.dt, + this.bodies.raw, + body.handle, + targetRotation, + targetAngVel, + ); + } +} diff --git a/src.ts/dynamics/ccd_solver.ts b/packages/rapier-2d/src/dynamics/ccd_solver.ts similarity index 94% rename from src.ts/dynamics/ccd_solver.ts rename to packages/rapier-2d/src/dynamics/ccd_solver.ts index 7f794222..a0de715f 100644 --- a/src.ts/dynamics/ccd_solver.ts +++ b/packages/rapier-2d/src/dynamics/ccd_solver.ts @@ -16,7 +16,7 @@ export class CCDSolver { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw?: RawCCDSolver) { diff --git a/src.ts/dynamics/coefficient_combine_rule.ts b/packages/rapier-2d/src/dynamics/coefficient_combine_rule.ts similarity index 100% rename from src.ts/dynamics/coefficient_combine_rule.ts rename to packages/rapier-2d/src/dynamics/coefficient_combine_rule.ts diff --git a/packages/rapier-2d/src/dynamics/impulse_joint.ts b/packages/rapier-2d/src/dynamics/impulse_joint.ts new file mode 100644 index 00000000..75b87de6 --- /dev/null +++ b/packages/rapier-2d/src/dynamics/impulse_joint.ts @@ -0,0 +1,458 @@ +import {Rotation, Vector, VectorOps, RotationOps} from "../math"; +import { + RawGenericJoint, + RawImpulseJointSet, + RawJointAxis, + RawJointType, + RawMotorModel, +} from "../raw"; +import {RigidBody} from "./rigid_body"; +import {RigidBodySet} from "./rigid_body_set"; + +/** + * The integer identifier of a collider added to a `ColliderSet`. + */ +export type ImpulseJointHandle = number; + +/** + * An enum grouping all possible types of joints: + * + * - `Revolute`: A revolute joint that removes all degrees of freedom between the affected + * bodies except for the rotation along one axis. + * - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies. + * - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected + * bodies except for the translation along one axis. + * - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies. + * - `Generic`: (3D only) A joint with customizable degrees of freedom, allowing any of the 6 axes to be locked. + */ +export enum JointType { + Revolute, + Fixed, + Prismatic, + Rope, + Spring, +} + +export enum MotorModel { + AccelerationBased, + ForceBased, +} + +/** + * An enum representing the possible joint axes of a generic joint. + * They can be ORed together, like: + * JointAxesMask.LinX || JointAxesMask.LinY + * to get a joint that is only free in the X and Y translational (positional) axes. + * + * Possible free axes are: + * + * - `X`: X translation axis + * - `Y`: Y translation axis + * - `Z`: Z translation axis + * - `AngX`: X angular rotation axis + * - `AngY`: Y angular rotations axis + * - `AngZ`: Z angular rotation axis + */ +export enum JointAxesMask { + LinX = 1 << 0, + LinY = 1 << 1, + LinZ = 1 << 2, + AngX = 1 << 3, + AngY = 1 << 4, + AngZ = 1 << 5, +} + +export class ImpulseJoint { + protected rawSet: RawImpulseJointSet; // The ImpulseJoint won't need to free this. + protected bodySet: RigidBodySet; // The ImpulseJoint won’t need to free this. + handle: ImpulseJointHandle; + + constructor(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: ImpulseJointHandle) { + this.rawSet = rawSet; + this.bodySet = bodySet; + this.handle = handle; + } + + public static newTyped( + rawSet: RawImpulseJointSet, + bodySet: RigidBodySet, + handle: ImpulseJointHandle, + ): ImpulseJoint { + switch (rawSet.jointType(handle)) { + case RawJointType.Revolute: + return new RevoluteImpulseJoint(rawSet, bodySet, handle); + case RawJointType.Prismatic: + return new PrismaticImpulseJoint(rawSet, bodySet, handle); + case RawJointType.Fixed: + return new FixedImpulseJoint(rawSet, bodySet, handle); + case RawJointType.Spring: + return new SpringImpulseJoint(rawSet, bodySet, handle); + case RawJointType.Rope: + return new RopeImpulseJoint(rawSet, bodySet, handle); + default: + return new ImpulseJoint(rawSet, bodySet, handle); + } + } + + /** @internal */ + public finalizeDeserialization(bodySet: RigidBodySet) { + this.bodySet = bodySet; + } + + /** + * Checks if this joint is still valid (i.e. that it has + * not been deleted from the joint set yet). + */ + public isValid(): boolean { + return this.rawSet.contains(this.handle); + } + + /** + * The first rigid-body this joint it attached to. + */ + public body1(): RigidBody { + return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle))!; + } + + /** + * The second rigid-body this joint is attached to. + */ + public body2(): RigidBody { + return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle))!; + } + + /** + * The type of this joint given as a string. + */ + public type(): JointType { + return this.rawSet.jointType(this.handle) as number as JointType; + } + + /** + * The position of the first anchor of this joint. + * + * The first anchor gives the position of the application point on the + * local frame of the first rigid-body it is attached to. + */ + public anchor1(): Vector { + return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle))!; + } + + /** + * The position of the second anchor of this joint. + * + * The second anchor gives the position of the application point on the + * local frame of the second rigid-body it is attached to. + */ + public anchor2(): Vector { + return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle))!; + } + + /** + * Sets the position of the first anchor of this joint. + * + * The first anchor gives the position of the application point on the + * local frame of the first rigid-body it is attached to. + */ + public setAnchor1(newPos: Vector) { + const rawPoint = VectorOps.intoRaw(newPos); + this.rawSet.jointSetAnchor1(this.handle, rawPoint); + rawPoint.free(); + } + + /** + * Sets the position of the second anchor of this joint. + * + * The second anchor gives the position of the application point on the + * local frame of the second rigid-body it is attached to. + */ + public setAnchor2(newPos: Vector) { + const rawPoint = VectorOps.intoRaw(newPos); + this.rawSet.jointSetAnchor2(this.handle, rawPoint); + rawPoint.free(); + } + + /** + * Controls whether contacts are computed between colliders attached + * to the rigid-bodies linked by this joint. + */ + public setContactsEnabled(enabled: boolean) { + this.rawSet.jointSetContactsEnabled(this.handle, enabled); + } + + /** + * Indicates if contacts are enabled between colliders attached + * to the rigid-bodies linked by this joint. + */ + public contactsEnabled(): boolean { + return this.rawSet.jointContactsEnabled(this.handle); + } +} + +export class UnitImpulseJoint extends ImpulseJoint { + /** + * The axis left free by this joint. + */ + protected rawAxis(): RawJointAxis { + throw new Error("rawAxis must be implemented by subclass"); + } + + /** + * Are the limits enabled for this joint? + */ + public limitsEnabled(): boolean { + return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis()); + } + + /** + * The min limit of this joint. + */ + public limitsMin(): number { + return this.rawSet.jointLimitsMin(this.handle, this.rawAxis()); + } + + /** + * The max limit of this joint. + */ + public limitsMax(): number { + return this.rawSet.jointLimitsMax(this.handle, this.rawAxis()); + } + + /** + * Sets the limits of this joint. + * + * @param min - The minimum bound of this joint’s free coordinate. + * @param max - The maximum bound of this joint’s free coordinate. + */ + public setLimits(min: number, max: number) { + this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max); + } + + public configureMotorModel(model: MotorModel) { + this.rawSet.jointConfigureMotorModel( + this.handle, + this.rawAxis(), + model as number as RawMotorModel, + ); + } + + public configureMotorVelocity(targetVel: number, factor: number) { + this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor); + } + + public configureMotorPosition(targetPos: number, stiffness: number, damping: number) { + this.rawSet.jointConfigureMotorPosition( + this.handle, + this.rawAxis(), + targetPos, + stiffness, + damping, + ); + } + + public configureMotor( + targetPos: number, + targetVel: number, + stiffness: number, + damping: number, + ) { + this.rawSet.jointConfigureMotor( + this.handle, + this.rawAxis(), + targetPos, + targetVel, + stiffness, + damping, + ); + } +} + +export class FixedImpulseJoint extends ImpulseJoint {} + +export class RopeImpulseJoint extends ImpulseJoint {} + +export class SpringImpulseJoint extends ImpulseJoint {} + +export class PrismaticImpulseJoint extends UnitImpulseJoint { + public rawAxis(): RawJointAxis { + return RawJointAxis.LinX; + } +} + +export class RevoluteImpulseJoint extends UnitImpulseJoint { + public rawAxis(): RawJointAxis { + return RawJointAxis.AngX; + } +} + +export class JointData { + anchor1!: Vector; + anchor2!: Vector; + axis!: Vector; + frame1!: Rotation; + frame2!: Rotation; + jointType!: JointType; + limitsEnabled!: boolean; + limits!: Array; + axesMask!: JointAxesMask; + stiffness!: number; + damping!: number; + length!: number; + + private constructor() {} + + /** + * Creates a new joint descriptor that builds a Fixed joint. + * + * A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their + * anchor and local frames coincide in world-space. + * + * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the + * local-space of the rigid-body. + * @param frame1 - The reference orientation of the joint wrt. the first rigid-body. + * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the + * local-space of the rigid-body. + * @param frame2 - The reference orientation of the joint wrt. the second rigid-body. + */ + public static fixed( + anchor1: Vector, + frame1: Rotation, + anchor2: Vector, + frame2: Rotation, + ): JointData { + let res = new JointData(); + res.anchor1 = anchor1; + res.anchor2 = anchor2; + res.frame1 = frame1; + res.frame2 = frame2; + res.jointType = JointType.Fixed; + return res; + } + + public static spring( + rest_length: number, + stiffness: number, + damping: number, + anchor1: Vector, + anchor2: Vector, + ): JointData { + let res = new JointData(); + res.anchor1 = anchor1; + res.anchor2 = anchor2; + res.length = rest_length; + res.stiffness = stiffness; + res.damping = damping; + res.jointType = JointType.Spring; + return res; + } + + public static rope(length: number, anchor1: Vector, anchor2: Vector): JointData { + let res = new JointData(); + res.anchor1 = anchor1; + res.anchor2 = anchor2; + res.length = length; + res.jointType = JointType.Rope; + return res; + } + + /** + * Create a new joint descriptor that builds revolute joints. + * + * A revolute joint allows three relative rotational degrees of freedom + * by preventing any relative translation between the anchors of the + * two attached rigid-bodies. + * + * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the + * local-space of the rigid-body. + * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the + * local-space of the rigid-body. + */ + public static revolute(anchor1: Vector, anchor2: Vector): JointData { + let res = new JointData(); + res.anchor1 = anchor1; + res.anchor2 = anchor2; + res.jointType = JointType.Revolute; + return res; + } + + /** + * Creates a new joint descriptor that builds a Prismatic joint. + * + * A prismatic joint removes all the degrees of freedom between the + * affected bodies, except for the translation along one axis. + * + * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the + * local-space of the rigid-body. + * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the + * local-space of the rigid-body. + * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to. + */ + public static prismatic(anchor1: Vector, anchor2: Vector, axis: Vector): JointData { + let res = new JointData(); + res.anchor1 = anchor1; + res.anchor2 = anchor2; + res.axis = axis; + res.jointType = JointType.Prismatic; + return res; + } + + public intoRaw(): RawGenericJoint { + let rawA1 = VectorOps.intoRaw(this.anchor1); + let rawA2 = VectorOps.intoRaw(this.anchor2); + let rawAx; + let result; + let limitsEnabled = false; + let limitsMin = 0.0; + let limitsMax = 0.0; + + switch (this.jointType) { + case JointType.Fixed: + let rawFra1 = RotationOps.intoRaw(this.frame1); + let rawFra2 = RotationOps.intoRaw(this.frame2); + result = RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2); + rawFra1.free(); + rawFra2.free(); + break; + case JointType.Spring: + result = RawGenericJoint.spring( + this.length, + this.stiffness, + this.damping, + rawA1, + rawA2, + ); + break; + case JointType.Rope: + result = RawGenericJoint.rope(this.length, rawA1, rawA2); + break; + case JointType.Prismatic: + rawAx = VectorOps.intoRaw(this.axis); + + if (!!this.limitsEnabled) { + limitsEnabled = true; + limitsMin = this.limits[0]; + limitsMax = this.limits[1]; + } + + result = RawGenericJoint.prismatic( + rawA1, + rawA2, + rawAx, + limitsEnabled, + limitsMin, + limitsMax, + ); + + rawAx.free(); + break; + case JointType.Revolute: + result = RawGenericJoint.revolute(rawA1, rawA2); + break; + } + + rawA1.free(); + rawA2.free(); + + return result!; + } +} diff --git a/src.ts/dynamics/impulse_joint_set.ts b/packages/rapier-2d/src/dynamics/impulse_joint_set.ts similarity index 88% rename from src.ts/dynamics/impulse_joint_set.ts rename to packages/rapier-2d/src/dynamics/impulse_joint_set.ts index 2d382514..6bd04dea 100644 --- a/src.ts/dynamics/impulse_joint_set.ts +++ b/packages/rapier-2d/src/dynamics/impulse_joint_set.ts @@ -1,21 +1,8 @@ -import {RawImpulseJointSet} from "../raw"; import {Coarena} from "../coarena"; -import {RigidBodySet} from "./rigid_body_set"; -import { - RevoluteImpulseJoint, - FixedImpulseJoint, - ImpulseJoint, - ImpulseJointHandle, - JointData, - JointType, - PrismaticImpulseJoint, - // #if DIM3 - SphericalImpulseJoint, - // #endif -} from "./impulse_joint"; -import {IslandManager} from "./island_manager"; +import {RawImpulseJointSet} from "../raw"; +import {ImpulseJoint, ImpulseJointHandle, JointData} from "./impulse_joint"; import {RigidBodyHandle} from "./rigid_body"; -import {Collider, ColliderHandle} from "../geometry"; +import {RigidBodySet} from "./rigid_body_set"; /** * A set of joints. @@ -34,12 +21,12 @@ export class ImpulseJointSet { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; if (!!this.map) { this.map.clear(); } - this.map = undefined; + this.map = undefined!; } constructor(raw?: RawImpulseJointSet) { @@ -48,7 +35,7 @@ export class ImpulseJointSet { // Initialize the map with the existing elements, if any. if (raw) { raw.forEachJointHandle((handle: ImpulseJointHandle) => { - this.map.set(handle, ImpulseJoint.newTyped(raw, null, handle)); + this.map.set(handle, ImpulseJoint.newTyped(raw, null!, handle)); }); } } @@ -75,12 +62,7 @@ export class ImpulseJointSet { wakeUp: boolean, ): ImpulseJoint { const rawParams = desc.intoRaw(); - const handle = this.raw.createJoint( - rawParams, - parent1, - parent2, - wakeUp, - ); + const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp); rawParams.free(); let joint = ImpulseJoint.newTyped(this.raw, bodies, handle); this.map.set(handle, joint); diff --git a/src.ts/dynamics/index.ts b/packages/rapier-2d/src/dynamics/index.ts similarity index 100% rename from src.ts/dynamics/index.ts rename to packages/rapier-2d/src/dynamics/index.ts diff --git a/src.ts/dynamics/integration_parameters.ts b/packages/rapier-2d/src/dynamics/integration_parameters.ts similarity index 99% rename from src.ts/dynamics/integration_parameters.ts rename to packages/rapier-2d/src/dynamics/integration_parameters.ts index b7253e21..5c71e8a0 100644 --- a/src.ts/dynamics/integration_parameters.ts +++ b/packages/rapier-2d/src/dynamics/integration_parameters.ts @@ -14,7 +14,7 @@ export class IntegrationParameters { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } /** diff --git a/src.ts/dynamics/island_manager.ts b/packages/rapier-2d/src/dynamics/island_manager.ts similarity index 97% rename from src.ts/dynamics/island_manager.ts rename to packages/rapier-2d/src/dynamics/island_manager.ts index 65ed21dc..c48c1727 100644 --- a/src.ts/dynamics/island_manager.ts +++ b/packages/rapier-2d/src/dynamics/island_manager.ts @@ -17,7 +17,7 @@ export class IslandManager { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw?: RawIslandManager) { diff --git a/packages/rapier-2d/src/dynamics/multibody_joint.ts b/packages/rapier-2d/src/dynamics/multibody_joint.ts new file mode 100644 index 00000000..fc2ff3fb --- /dev/null +++ b/packages/rapier-2d/src/dynamics/multibody_joint.ts @@ -0,0 +1,157 @@ +import {RawJointAxis, RawJointType, RawMultibodyJointSet} from "../raw"; + +/** + * The integer identifier of a collider added to a `ColliderSet`. + */ +export type MultibodyJointHandle = number; + +export class MultibodyJoint { + protected rawSet: RawMultibodyJointSet; // The MultibodyJoint won't need to free this. + handle: MultibodyJointHandle; + + constructor(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle) { + this.rawSet = rawSet; + this.handle = handle; + } + + public static newTyped( + rawSet: RawMultibodyJointSet, + handle: MultibodyJointHandle, + ): MultibodyJoint { + switch (rawSet.jointType(handle)) { + case RawJointType.Revolute: + return new RevoluteMultibodyJoint(rawSet, handle); + case RawJointType.Prismatic: + return new PrismaticMultibodyJoint(rawSet, handle); + case RawJointType.Fixed: + return new FixedMultibodyJoint(rawSet, handle); + default: + return new MultibodyJoint(rawSet, handle); + } + } + + /** + * Checks if this joint is still valid (i.e. that it has + * not been deleted from the joint set yet). + */ + public isValid(): boolean { + return this.rawSet.contains(this.handle); + } + + // /** + // * The unique integer identifier of the first rigid-body this joint it attached to. + // */ + // public bodyHandle1(): RigidBodyHandle { + // return this.rawSet.jointBodyHandle1(this.handle); + // } + // + // /** + // * The unique integer identifier of the second rigid-body this joint is attached to. + // */ + // public bodyHandle2(): RigidBodyHandle { + // return this.rawSet.jointBodyHandle2(this.handle); + // } + // + // /** + // * The type of this joint given as a string. + // */ + // public type(): JointType { + // return this.rawSet.jointType(this.handle); + // } + // + // + // + // /** + // * The position of the first anchor of this joint. + // * + // * The first anchor gives the position of the points application point on the + // * local frame of the first rigid-body it is attached to. + // */ + // public anchor1(): Vector { + // return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle)); + // } + // + // /** + // * The position of the second anchor of this joint. + // * + // * The second anchor gives the position of the points application point on the + // * local frame of the second rigid-body it is attached to. + // */ + // public anchor2(): Vector { + // return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle)); + // } + + /** + * Controls whether contacts are computed between colliders attached + * to the rigid-bodies linked by this joint. + */ + public setContactsEnabled(enabled: boolean) { + this.rawSet.jointSetContactsEnabled(this.handle, enabled); + } + + /** + * Indicates if contacts are enabled between colliders attached + * to the rigid-bodies linked by this joint. + */ + public contactsEnabled(): boolean { + return this.rawSet.jointContactsEnabled(this.handle); + } +} + +export class UnitMultibodyJoint extends MultibodyJoint { + /** + * The axis left free by this joint. + */ + protected rawAxis?(): RawJointAxis; + + // /** + // * Are the limits enabled for this joint? + // */ + // public limitsEnabled(): boolean { + // return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis()); + // } + // + // /** + // * The min limit of this joint. + // */ + // public limitsMin(): number { + // return this.rawSet.jointLimitsMin(this.handle, this.rawAxis()); + // } + // + // /** + // * The max limit of this joint. + // */ + // public limitsMax(): number { + // return this.rawSet.jointLimitsMax(this.handle, this.rawAxis()); + // } + // + // public configureMotorModel(model: MotorModel) { + // this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model); + // } + // + // public configureMotorVelocity(targetVel: number, factor: number) { + // this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor); + // } + // + // public configureMotorPosition(targetPos: number, stiffness: number, damping: number) { + // this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping); + // } + // + // public configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number) { + // this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping); + // } +} + +export class FixedMultibodyJoint extends MultibodyJoint {} + +export class PrismaticMultibodyJoint extends UnitMultibodyJoint { + public rawAxis(): RawJointAxis { + return RawJointAxis.LinX; + } +} + +export class RevoluteMultibodyJoint extends UnitMultibodyJoint { + public rawAxis(): RawJointAxis { + return RawJointAxis.AngX; + } +} diff --git a/src.ts/dynamics/multibody_joint_set.ts b/packages/rapier-2d/src/dynamics/multibody_joint_set.ts similarity index 85% rename from src.ts/dynamics/multibody_joint_set.ts rename to packages/rapier-2d/src/dynamics/multibody_joint_set.ts index 2fbb3403..78840397 100644 --- a/src.ts/dynamics/multibody_joint_set.ts +++ b/packages/rapier-2d/src/dynamics/multibody_joint_set.ts @@ -1,19 +1,7 @@ -import {RawMultibodyJointSet} from "../raw"; import {Coarena} from "../coarena"; -import {RigidBodySet} from "./rigid_body_set"; -import { - MultibodyJoint, - MultibodyJointHandle, - RevoluteMultibodyJoint, - FixedMultibodyJoint, - PrismaticMultibodyJoint, - // #if DIM3 - SphericalMultibodyJoint, - // #endif -} from "./multibody_joint"; -import {ImpulseJointHandle, JointData, JointType} from "./impulse_joint"; -import {IslandManager} from "./island_manager"; -import {ColliderHandle} from "../geometry"; +import {RawMultibodyJointSet} from "../raw"; +import {JointData} from "./impulse_joint"; +import {MultibodyJoint, MultibodyJointHandle} from "./multibody_joint"; import {RigidBodyHandle} from "./rigid_body"; /** @@ -33,12 +21,12 @@ export class MultibodyJointSet { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; if (!!this.map) { this.map.clear(); } - this.map = undefined; + this.map = undefined!; } constructor(raw?: RawMultibodyJointSet) { @@ -67,12 +55,7 @@ export class MultibodyJointSet { wakeUp: boolean, ): MultibodyJoint { const rawParams = desc.intoRaw(); - const handle = this.raw.createJoint( - rawParams, - parent1, - parent2, - wakeUp, - ); + const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp); rawParams.free(); let joint = MultibodyJoint.newTyped(this.raw, handle); this.map.set(handle, joint); diff --git a/packages/rapier-2d/src/dynamics/rigid_body.ts b/packages/rapier-2d/src/dynamics/rigid_body.ts new file mode 100644 index 00000000..631a599b --- /dev/null +++ b/packages/rapier-2d/src/dynamics/rigid_body.ts @@ -0,0 +1,1112 @@ +import {Collider, ColliderSet} from "../geometry"; +import {Rotation, RotationOps, Vector, VectorOps} from "../math"; +import {RawRigidBodySet, RawRigidBodyType} from "../raw"; + +/** + * The integer identifier of a collider added to a `ColliderSet`. + */ +export type RigidBodyHandle = number; + +/** + * The simulation status of a rigid-body. + */ +// TODO: rename this to RigidBodyType +export enum RigidBodyType { + /** + * A `RigidBodyType::Dynamic` body can be affected by all external forces. + */ + Dynamic = 0, + /** + * A `RigidBodyType::Fixed` body cannot be affected by external forces. + */ + Fixed, + /** + * A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled + * by the user at the position level while keeping realistic one-way interaction with dynamic bodies. + * + * One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body + * cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be + * modified by the user and is independent from any contact or joint it is involved in. + */ + KinematicPositionBased, + /** + * A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled + * by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies. + * + * One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body + * cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be + * modified by the user and is independent from any contact or joint it is involved in. + */ + KinematicVelocityBased, +} + +/** + * A rigid-body. + */ +export class RigidBody { + private rawSet: RawRigidBodySet; // The RigidBody won't need to free this. + private colliderSet: ColliderSet; + readonly handle: RigidBodyHandle; + private scratchBuffer: Float32Array; + + /** + * An arbitrary user-defined object associated with this rigid-body. + */ + public userData?: unknown; + + constructor(rawSet: RawRigidBodySet, colliderSet: ColliderSet, handle: RigidBodyHandle) { + this.rawSet = rawSet; + this.colliderSet = colliderSet; + this.handle = handle; + this.scratchBuffer = new Float32Array(4); + } + + /** @internal */ + public finalizeDeserialization(colliderSet: ColliderSet) { + this.colliderSet = colliderSet; + } + + /** + * Checks if this rigid-body is still valid (i.e. that it has + * not been deleted from the rigid-body set yet. + */ + public isValid(): boolean { + return this.rawSet.contains(this.handle); + } + + /** + * Locks or unlocks the ability of this rigid-body to translate. + * + * @param locked - If `true`, this rigid-body will no longer translate due to forces and impulses. + * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep. + */ + public lockTranslations(locked: boolean, wakeUp: boolean) { + return this.rawSet.rbLockTranslations(this.handle, locked, wakeUp); + } + + /** + * Locks or unlocks the ability of this rigid-body to rotate. + * + * @param locked - If `true`, this rigid-body will no longer rotate due to torques and impulses. + * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep. + */ + public lockRotations(locked: boolean, wakeUp: boolean) { + return this.rawSet.rbLockRotations(this.handle, locked, wakeUp); + } + + /** + * Locks or unlocks the ability of this rigid-body to translation along individual coordinate axes. + * + * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis. + * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis. + * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep. + */ + public setEnabledTranslations(enableX: boolean, enableY: boolean, wakeUp: boolean) { + return this.rawSet.rbSetEnabledTranslations(this.handle, enableX, enableY, wakeUp); + } + + /** + * Locks or unlocks the ability of this rigid-body to translation along individual coordinate axes. + * + * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis. + * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis. + * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep. + * @deprecated use `this.setEnabledTranslations` with the same arguments instead. + */ + public restrictTranslations(enableX: boolean, enableY: boolean, wakeUp: boolean) { + this.setEnabledTranslations(enableX, enableX, wakeUp); + } + + /** + * The dominance group, in [-127, +127] this rigid-body is part of. + */ + public dominanceGroup(): number { + return this.rawSet.rbDominanceGroup(this.handle); + } + + /** + * Sets the dominance group of this rigid-body. + * + * @param group - The dominance group of this rigid-body. Must be a signed integer in the range [-127, +127]. + */ + public setDominanceGroup(group: number) { + this.rawSet.rbSetDominanceGroup(this.handle, group); + } + + /** + * The number of additional solver iterations that will be run for this + * rigid-body and everything that interacts with it directly or indirectly + * through contacts or joints. + */ + public additionalSolverIterations(): number { + return this.rawSet.rbAdditionalSolverIterations(this.handle); + } + + /** + * Sets the number of additional solver iterations that will be run for this + * rigid-body and everything that interacts with it directly or indirectly + * through contacts or joints. + * + * Compared to increasing the global `World.numSolverIteration`, setting this + * value lets you increase accuracy on only a subset of the scene, resulting in reduced + * performance loss. + * + * @param iters - The new number of additional solver iterations (default: 0). + */ + public setAdditionalSolverIterations(iters: number) { + this.rawSet.rbSetAdditionalSolverIterations(this.handle, iters); + } + + /** + * Enable or disable CCD (Continuous Collision Detection) for this rigid-body. + * + * @param enabled - If `true`, CCD will be enabled for this rigid-body. + */ + public enableCcd(enabled: boolean) { + this.rawSet.rbEnableCcd(this.handle, enabled); + } + + /** + * Sets the soft-CCD prediction distance for this rigid-body. + * + * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for + * additional details. + */ + public setSoftCcdPrediction(distance: number) { + this.rawSet.rbSetSoftCcdPrediction(this.handle, distance); + } + + /** + * Gets the soft-CCD prediction distance for this rigid-body. + * + * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for + * additional details. + */ + public softCcdPrediction(): number { + return this.rawSet.rbSoftCcdPrediction(this.handle); + } + + /** + * The world-space translation of this rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public translation(target?: Vector): Vector { + this.rawSet.rbTranslation(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The world-space orientation of this rigid-body. + */ + public rotation(): Rotation { + this.rawSet.rbRotation(this.handle, this.scratchBuffer); + return RotationOps.fromBuffer(this.scratchBuffer); + } + + /** + * The world-space next translation of this rigid-body. + * + * If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation` + * method and is used for estimating the kinematic body velocity at the next timestep. + * For non-kinematic bodies, this value is currently unspecified. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public nextTranslation(target?: Vector): Vector { + this.rawSet.rbNextTranslation(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The world-space next orientation of this rigid-body. + * + * If this rigid-body is kinematic this value is set by the `setNextKinematicRotation` + * method and is used for estimating the kinematic body velocity at the next timestep. + * For non-kinematic bodies, this value is currently unspecified. + */ + public nextRotation(): Rotation { + this.rawSet.rbNextRotation(this.handle, this.scratchBuffer); + return RotationOps.fromBuffer(this.scratchBuffer); + } + + /** + * Sets the translation of this rigid-body. + * + * @param tra - The world-space position of the rigid-body. + * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it + * wasn't moving before modifying its position. + */ + public setTranslation(tra: Vector, wakeUp: boolean) { + this.rawSet.rbSetTranslation(this.handle, tra.x, tra.y, wakeUp); + } + + /** + * Sets the linear velocity of this rigid-body. + * + * @param vel - The linear velocity to set. + * @param wakeUp - Forces the rigid-body to wake-up if it was asleep. + */ + public setLinvel(vel: Vector, wakeUp: boolean) { + let rawVel = VectorOps.intoRaw(vel); + this.rawSet.rbSetLinvel(this.handle, rawVel, wakeUp); + rawVel.free(); + } + + /** + * The scale factor applied to the gravity affecting + * this rigid-body. + */ + public gravityScale(): number { + return this.rawSet.rbGravityScale(this.handle); + } + + /** + * Sets the scale factor applied to the gravity affecting + * this rigid-body. + * + * @param factor - The scale factor to set. A value of 0.0 means + * that this rigid-body will on longer be affected by gravity. + * @param wakeUp - Forces the rigid-body to wake-up if it was asleep. + */ + public setGravityScale(factor: number, wakeUp: boolean) { + this.rawSet.rbSetGravityScale(this.handle, factor, wakeUp); + } + + /** + * Sets the rotation angle of this rigid-body. + * + * @param angle - The rotation angle, in radians. + * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it + * wasn't moving before modifying its position. + */ + public setRotation(angle: number, wakeUp: boolean) { + this.rawSet.rbSetRotation(this.handle, angle, wakeUp); + } + + /** + * Sets the angular velocity fo this rigid-body. + * + * @param vel - The angular velocity to set. + * @param wakeUp - Forces the rigid-body to wake-up if it was asleep. + */ + public setAngvel(vel: number, wakeUp: boolean) { + this.rawSet.rbSetAngvel(this.handle, vel, wakeUp); + } + + /** + * If this rigid body is kinematic, sets its future translation after the next timestep integration. + * + * This should be used instead of `rigidBody.setTranslation` to make the dynamic object + * interacting with this kinematic body behave as expected. Internally, Rapier will compute + * an artificial velocity for this rigid-body from its current position and its next kinematic + * position. This velocity will be used to compute forces on dynamic bodies interacting with + * this body. + * + * @param t - The kinematic translation to set. + */ + public setNextKinematicTranslation(t: Vector) { + this.rawSet.rbSetNextKinematicTranslation(this.handle, t.x, t.y); + } + + /** + * If this rigid body is kinematic, sets its future rotation after the next timestep integration. + * + * This should be used instead of `rigidBody.setRotation` to make the dynamic object + * interacting with this kinematic body behave as expected. Internally, Rapier will compute + * an artificial velocity for this rigid-body from its current position and its next kinematic + * position. This velocity will be used to compute forces on dynamic bodies interacting with + * this body. + * + * @param angle - The kinematic rotation angle, in radians. + */ + public setNextKinematicRotation(angle: number) { + this.rawSet.rbSetNextKinematicRotation(this.handle, angle); + } + + /** + * The linear velocity of this rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public linvel(target?: Vector): Vector { + this.rawSet.rbLinvel(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The velocity of the given world-space point on this rigid-body. + */ + public velocityAtPoint(point: Vector): Vector { + const rawPoint = VectorOps.intoRaw(point); + let result = VectorOps.fromRaw(this.rawSet.rbVelocityAtPoint(this.handle, rawPoint))!; + rawPoint.free(); + return result; + } + + /** + * The angular velocity of this rigid-body. + */ + public angvel(): number { + return this.rawSet.rbAngvel(this.handle); + } + + /** + * The mass of this rigid-body. + */ + public mass(): number { + return this.rawSet.rbMass(this.handle); + } + + /** + * The inverse mass taking into account translation locking. + */ + public effectiveInvMass(): Vector { + return VectorOps.fromRaw(this.rawSet.rbEffectiveInvMass(this.handle))!; + } + + /** + * The inverse of the mass of a rigid-body. + * + * If this is zero, the rigid-body is assumed to have infinite mass. + */ + public invMass(): number { + return this.rawSet.rbInvMass(this.handle); + } + + /** + * The center of mass of a rigid-body expressed in its local-space. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public localCom(target?: Vector): Vector { + this.rawSet.rbLocalCom(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The world-space center of mass of the rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public worldCom(target?: Vector): Vector { + this.rawSet.rbWorldCom(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The inverse of the principal angular inertia of the rigid-body. + * + * Components set to zero are assumed to be infinite along the corresponding principal axis. + */ + public invPrincipalInertia(): number { + return this.rawSet.rbInvPrincipalInertia(this.handle); + } + + /** + * The angular inertia along the principal inertia axes of the rigid-body. + */ + public principalInertia(): number { + return this.rawSet.rbPrincipalInertia(this.handle); + } + + /** + * The world-space inverse angular inertia tensor of the rigid-body, + * taking into account rotation locking. + */ + public effectiveWorldInvInertia(): number { + return this.rawSet.rbEffectiveWorldInvInertia(this.handle); + } + + /** + * The effective world-space angular inertia (that takes the potential rotation locking into account) of + * this rigid-body. + */ + public effectiveAngularInertia(): number { + return this.rawSet.rbEffectiveAngularInertia(this.handle); + } + + /** + * Put this rigid body to sleep. + * + * A sleeping body no longer moves and is no longer simulated by the physics engine unless + * it is waken up. It can be woken manually with `this.wakeUp()` or automatically due to + * external forces like contacts. + */ + public sleep() { + this.rawSet.rbSleep(this.handle); + } + + /** + * Wakes this rigid-body up. + * + * A dynamic rigid-body that does not move during several consecutive frames will + * be put to sleep by the physics engine, i.e., it will stop being simulated in order + * to avoid useless computations. + * This methods forces a sleeping rigid-body to wake-up. This is useful, e.g., before modifying + * the position of a dynamic body so that it is properly simulated afterwards. + */ + public wakeUp() { + this.rawSet.rbWakeUp(this.handle); + } + + /** + * Is CCD enabled for this rigid-body? + */ + public isCcdEnabled(): boolean { + return this.rawSet.rbIsCcdEnabled(this.handle); + } + + /** + * The number of colliders attached to this rigid-body. + */ + public numColliders(): number { + return this.rawSet.rbNumColliders(this.handle); + } + + /** + * Retrieves the `i-th` collider attached to this rigid-body. + * + * @param i - The index of the collider to retrieve. Must be a number in `[0, this.numColliders()[`. + * This index is **not** the same as the unique identifier of the collider. + */ + public collider(i: number): Collider { + return this.colliderSet.get(this.rawSet.rbCollider(this.handle, i))!; + } + + /** + * Sets whether this rigid-body is enabled or not. + * + * @param enabled - Set to `false` to disable this rigid-body and all its attached colliders. + */ + public setEnabled(enabled: boolean) { + this.rawSet.rbSetEnabled(this.handle, enabled); + } + + /** + * Is this rigid-body enabled? + */ + public isEnabled(): boolean { + return this.rawSet.rbIsEnabled(this.handle); + } + + /** + * The status of this rigid-body: static, dynamic, or kinematic. + */ + public bodyType(): RigidBodyType { + return this.rawSet.rbBodyType(this.handle) as number as RigidBodyType; + } + + /** + * Set a new status for this rigid-body: static, dynamic, or kinematic. + */ + public setBodyType(type: RigidBodyType, wakeUp: boolean) { + return this.rawSet.rbSetBodyType(this.handle, type as number as RawRigidBodyType, wakeUp); + } + + /** + * Is this rigid-body sleeping? + */ + public isSleeping(): boolean { + return this.rawSet.rbIsSleeping(this.handle); + } + + /** + * Is the velocity of this rigid-body not zero? + */ + public isMoving(): boolean { + return this.rawSet.rbIsMoving(this.handle); + } + + /** + * Is this rigid-body static? + */ + public isFixed(): boolean { + return this.rawSet.rbIsFixed(this.handle); + } + + /** + * Is this rigid-body kinematic? + */ + public isKinematic(): boolean { + return this.rawSet.rbIsKinematic(this.handle); + } + + /** + * Is this rigid-body dynamic? + */ + public isDynamic(): boolean { + return this.rawSet.rbIsDynamic(this.handle); + } + + /** + * The linear damping coefficient of this rigid-body. + */ + public linearDamping(): number { + return this.rawSet.rbLinearDamping(this.handle); + } + + /** + * The angular damping coefficient of this rigid-body. + */ + public angularDamping(): number { + return this.rawSet.rbAngularDamping(this.handle); + } + + /** + * Sets the linear damping factor applied to this rigid-body. + * + * @param factor - The damping factor to set. + */ + public setLinearDamping(factor: number) { + this.rawSet.rbSetLinearDamping(this.handle, factor); + } + + /** + * Recompute the mass-properties of this rigid-bodies based on its currently attached colliders. + */ + public recomputeMassPropertiesFromColliders() { + this.rawSet.rbRecomputeMassPropertiesFromColliders(this.handle, this.colliderSet.raw); + } + + /** + * Sets the rigid-body's additional mass. + * + * The total angular inertia of the rigid-body will be scaled automatically based on this additional mass. If this + * scaling effect isn’t desired, use Self::additional_mass_properties instead of this method. + * + * This is only the "additional" mass because the total mass of the rigid-body is equal to the sum of this + * additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body. + * + * That total mass (which includes the attached colliders’ contributions) will be updated at the name physics step, + * or can be updated manually with `this.recomputeMassPropertiesFromColliders`. + * + * This will override any previous additional mass-properties set by `this.setAdditionalMass`, + * `this.setAdditionalMassProperties`, `RigidBodyDesc::setAdditionalMass`, or + * `RigidBodyDesc.setAdditionalMassfProperties` for this rigid-body. + * + * @param mass - The additional mass to set. + * @param wakeUp - If `true` then the rigid-body will be woken up if it was put to sleep because it did not move for a while. + */ + public setAdditionalMass(mass: number, wakeUp: boolean) { + this.rawSet.rbSetAdditionalMass(this.handle, mass, wakeUp); + } + + /** + * Sets the rigid-body's additional mass-properties. + * + * This is only the "additional" mass-properties because the total mass-properties of the rigid-body is equal to the + * sum of this additional mass-properties and the mass computed from the colliders (with non-zero densities) attached + * to this rigid-body. + * + * That total mass-properties (which include the attached colliders’ contributions) will be updated at the name + * physics step, or can be updated manually with `this.recomputeMassPropertiesFromColliders`. + * + * This will override any previous mass-properties set by `this.setAdditionalMass`, + * `this.setAdditionalMassProperties`, `RigidBodyDesc.setAdditionalMass`, or `RigidBodyDesc.setAdditionalMassProperties` + * for this rigid-body. + * + * If `wake_up` is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while. + */ + public setAdditionalMassProperties( + mass: number, + centerOfMass: Vector, + principalAngularInertia: number, + wakeUp: boolean, + ) { + let rawCom = VectorOps.intoRaw(centerOfMass); + this.rawSet.rbSetAdditionalMassProperties( + this.handle, + mass, + rawCom, + principalAngularInertia, + wakeUp, + ); + rawCom.free(); + } + + /** + * Sets the linear damping factor applied to this rigid-body. + * + * @param factor - The damping factor to set. + */ + public setAngularDamping(factor: number) { + this.rawSet.rbSetAngularDamping(this.handle, factor); + } + + /** + * Resets to zero the user forces (but not torques) applied to this rigid-body. + * + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public resetForces(wakeUp: boolean) { + this.rawSet.rbResetForces(this.handle, wakeUp); + } + + /** + * Resets to zero the user torques applied to this rigid-body. + * + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public resetTorques(wakeUp: boolean) { + this.rawSet.rbResetTorques(this.handle, wakeUp); + } + + /** + * Adds a force at the center-of-mass of this rigid-body. + * + * @param force - the world-space force to add to the rigid-body. + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public addForce(force: Vector, wakeUp: boolean) { + const rawForce = VectorOps.intoRaw(force); + this.rawSet.rbAddForce(this.handle, rawForce, wakeUp); + rawForce.free(); + } + + /** + * Applies an impulse at the center-of-mass of this rigid-body. + * + * @param impulse - the world-space impulse to apply on the rigid-body. + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public applyImpulse(impulse: Vector, wakeUp: boolean) { + const rawImpulse = VectorOps.intoRaw(impulse); + this.rawSet.rbApplyImpulse(this.handle, rawImpulse, wakeUp); + rawImpulse.free(); + } + + /** + * Adds a torque at the center-of-mass of this rigid-body. + * + * @param torque - the torque to add to the rigid-body. + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public addTorque(torque: number, wakeUp: boolean) { + this.rawSet.rbAddTorque(this.handle, torque, wakeUp); + } + + /** + * Applies an impulsive torque at the center-of-mass of this rigid-body. + * + * @param torqueImpulse - the torque impulse to apply on the rigid-body. + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public applyTorqueImpulse(torqueImpulse: number, wakeUp: boolean) { + this.rawSet.rbApplyTorqueImpulse(this.handle, torqueImpulse, wakeUp); + } + + /** + * Adds a force at the given world-space point of this rigid-body. + * + * @param force - the world-space force to add to the rigid-body. + * @param point - the world-space point where the impulse is to be applied on the rigid-body. + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public addForceAtPoint(force: Vector, point: Vector, wakeUp: boolean) { + const rawForce = VectorOps.intoRaw(force); + const rawPoint = VectorOps.intoRaw(point); + this.rawSet.rbAddForceAtPoint(this.handle, rawForce, rawPoint, wakeUp); + rawForce.free(); + rawPoint.free(); + } + + /** + * Applies an impulse at the given world-space point of this rigid-body. + * + * @param impulse - the world-space impulse to apply on the rigid-body. + * @param point - the world-space point where the impulse is to be applied on the rigid-body. + * @param wakeUp - should the rigid-body be automatically woken-up? + */ + public applyImpulseAtPoint(impulse: Vector, point: Vector, wakeUp: boolean) { + const rawImpulse = VectorOps.intoRaw(impulse); + const rawPoint = VectorOps.intoRaw(point); + this.rawSet.rbApplyImpulseAtPoint(this.handle, rawImpulse, rawPoint, wakeUp); + rawImpulse.free(); + rawPoint.free(); + } + + /** + * Retrieves the constant force(s) the user added to this rigid-body + * Returns zero if the rigid-body is not dynamic. + */ + public userForce(): Vector { + return VectorOps.fromRaw(this.rawSet.rbUserForce(this.handle))!; + } + + /** + * Retrieves the constant torque(s) the user added to this rigid-body + * Returns zero if the rigid-body is not dynamic. + */ + public userTorque(): number { + return this.rawSet.rbUserTorque(this.handle); + } +} + +export class RigidBodyDesc { + enabled: boolean; + translation: Vector; + rotation: Rotation; + gravityScale: number; + mass: number; + massOnly: boolean; + centerOfMass: Vector; + translationsEnabledX: boolean; + translationsEnabledY: boolean; + linvel: Vector; + angvel: number; + principalAngularInertia: number; + rotationsEnabled: boolean; + linearDamping: number; + angularDamping: number; + status: RigidBodyType; + canSleep: boolean; + sleeping: boolean; + ccdEnabled: boolean; + softCcdPrediction: number; + dominanceGroup: number; + additionalSolverIterations: number; + userData?: unknown; + + constructor(status: RigidBodyType) { + this.enabled = true; + this.status = status; + this.translation = VectorOps.zeros(); + this.rotation = RotationOps.identity(); + this.gravityScale = 1.0; + this.linvel = VectorOps.zeros(); + this.mass = 0.0; + this.massOnly = false; + this.centerOfMass = VectorOps.zeros(); + this.translationsEnabledX = true; + this.translationsEnabledY = true; + this.angvel = 0.0; + this.principalAngularInertia = 0.0; + this.rotationsEnabled = true; + this.linearDamping = 0.0; + this.angularDamping = 0.0; + this.canSleep = true; + this.sleeping = false; + this.ccdEnabled = false; + this.softCcdPrediction = 0.0; + this.dominanceGroup = 0; + this.additionalSolverIterations = 0; + } + + /** + * A rigid-body descriptor used to build a dynamic rigid-body. + */ + public static dynamic(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.Dynamic); + } + + /** + * A rigid-body descriptor used to build a position-based kinematic rigid-body. + */ + public static kinematicPositionBased(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.KinematicPositionBased); + } + + /** + * A rigid-body descriptor used to build a velocity-based kinematic rigid-body. + */ + public static kinematicVelocityBased(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.KinematicVelocityBased); + } + + /** + * A rigid-body descriptor used to build a fixed rigid-body. + */ + public static fixed(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.Fixed); + } + + /** + * A rigid-body descriptor used to build a dynamic rigid-body. + * + * @deprecated The method has been renamed to `.dynamic()`. + */ + public static newDynamic(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.Dynamic); + } + + /** + * A rigid-body descriptor used to build a position-based kinematic rigid-body. + * + * @deprecated The method has been renamed to `.kinematicPositionBased()`. + */ + public static newKinematicPositionBased(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.KinematicPositionBased); + } + + /** + * A rigid-body descriptor used to build a velocity-based kinematic rigid-body. + * + * @deprecated The method has been renamed to `.kinematicVelocityBased()`. + */ + public static newKinematicVelocityBased(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.KinematicVelocityBased); + } + + /** + * A rigid-body descriptor used to build a fixed rigid-body. + * + * @deprecated The method has been renamed to `.fixed()`. + */ + public static newStatic(): RigidBodyDesc { + return new RigidBodyDesc(RigidBodyType.Fixed); + } + + public setDominanceGroup(group: number): RigidBodyDesc { + this.dominanceGroup = group; + return this; + } + + /** + * Sets the number of additional solver iterations that will be run for this + * rigid-body and everything that interacts with it directly or indirectly + * through contacts or joints. + * + * Compared to increasing the global `World.numSolverIteration`, setting this + * value lets you increase accuracy on only a subset of the scene, resulting in reduced + * performance loss. + * + * @param iters - The new number of additional solver iterations (default: 0). + */ + public setAdditionalSolverIterations(iters: number): RigidBodyDesc { + this.additionalSolverIterations = iters; + return this; + } + + /** + * Sets whether the created rigid-body will be enabled or disabled. + * @param enabled − If set to `false` the rigid-body will be disabled at creation. + */ + public setEnabled(enabled: boolean): RigidBodyDesc { + this.enabled = enabled; + return this; + } + + /** + * Sets the initial translation of the rigid-body to create. + */ + public setTranslation(x: number, y: number): RigidBodyDesc { + if (typeof x != "number" || typeof y != "number") + throw TypeError("The translation components must be numbers."); + + this.translation = {x: x, y: y}; + return this; + } + + /** + * Sets the initial rotation of the rigid-body to create. + * + * @param rot - The rotation to set. + */ + public setRotation(rot: Rotation): RigidBodyDesc { + this.rotation = rot; + return this; + } + + /** + * Sets the scale factor applied to the gravity affecting + * the rigid-body being built. + * + * @param scale - The scale factor. Set this to `0.0` if the rigid-body + * needs to ignore gravity. + */ + public setGravityScale(scale: number): RigidBodyDesc { + this.gravityScale = scale; + return this; + } + + /** + * Sets the initial mass of the rigid-body being built, before adding colliders' contributions. + * + * @param mass − The initial mass of the rigid-body to create. + */ + public setAdditionalMass(mass: number): RigidBodyDesc { + this.mass = mass; + this.massOnly = true; + return this; + } + + /** + * Sets the initial linear velocity of the rigid-body to create. + * + * @param x - The linear velocity to set along the `x` axis. + * @param y - The linear velocity to set along the `y` axis. + */ + public setLinvel(x: number, y: number): RigidBodyDesc { + if (typeof x != "number" || typeof y != "number") + throw TypeError("The linvel components must be numbers."); + + this.linvel = {x: x, y: y}; + return this; + } + + /** + * Sets the initial angular velocity of the rigid-body to create. + * + * @param vel - The angular velocity to set. + */ + public setAngvel(vel: number): RigidBodyDesc { + this.angvel = vel; + return this; + } + + /** + * Sets the mass properties of the rigid-body being built. + * + * Note that the final mass properties of the rigid-bodies depends + * on the initial mass-properties of the rigid-body (set by this method) + * to which is added the contributions of all the colliders with non-zero density + * attached to this rigid-body. + * + * Therefore, if you want your provided mass properties to be the final + * mass properties of your rigid-body, don't attach colliders to it, or + * only attach colliders with densities equal to zero. + * + * @param mass − The initial mass of the rigid-body to create. + * @param centerOfMass − The initial center-of-mass of the rigid-body to create. + * @param principalAngularInertia − The initial principal angular inertia of the rigid-body to create. + */ + public setAdditionalMassProperties( + mass: number, + centerOfMass: Vector, + principalAngularInertia: number, + ): RigidBodyDesc { + this.mass = mass; + VectorOps.copy(this.centerOfMass, centerOfMass); + this.principalAngularInertia = principalAngularInertia; + this.massOnly = false; + return this; + } + + /** + * Allow translation of this rigid-body only along specific axes. + * @param translationsEnabledX - Are translations along the X axis enabled? + * @param translationsEnabledY - Are translations along the y axis enabled? + */ + public enabledTranslations( + translationsEnabledX: boolean, + translationsEnabledY: boolean, + ): RigidBodyDesc { + this.translationsEnabledX = translationsEnabledX; + this.translationsEnabledY = translationsEnabledY; + return this; + } + + /** + * Allow translation of this rigid-body only along specific axes. + * @param translationsEnabledX - Are translations along the X axis enabled? + * @param translationsEnabledY - Are translations along the y axis enabled? + * @deprecated use `this.enabledTranslations` with the same arguments instead. + */ + public restrictTranslations( + translationsEnabledX: boolean, + translationsEnabledY: boolean, + ): RigidBodyDesc { + return this.enabledTranslations(translationsEnabledX, translationsEnabledY); + } + + /** + * Locks all translations that would have resulted from forces on + * the created rigid-body. + */ + public lockTranslations(): RigidBodyDesc { + return this.restrictTranslations(false, false); + } + + /** + * Locks all rotations that would have resulted from forces on + * the created rigid-body. + */ + public lockRotations(): RigidBodyDesc { + this.rotationsEnabled = false; + return this; + } + + /** + * Sets the linear damping of the rigid-body to create. + * + * This will progressively slowdown the translational movement of the rigid-body. + * + * @param damping - The angular damping coefficient. Should be >= 0. The higher this + * value is, the stronger the translational slowdown will be. + */ + public setLinearDamping(damping: number): RigidBodyDesc { + this.linearDamping = damping; + return this; + } + + /** + * Sets the angular damping of the rigid-body to create. + * + * This will progressively slowdown the rotational movement of the rigid-body. + * + * @param damping - The angular damping coefficient. Should be >= 0. The higher this + * value is, the stronger the rotational slowdown will be. + */ + public setAngularDamping(damping: number): RigidBodyDesc { + this.angularDamping = damping; + return this; + } + + /** + * Sets whether or not the rigid-body to create can sleep. + * + * @param can - true if the rigid-body can sleep, false if it can't. + */ + public setCanSleep(can: boolean): RigidBodyDesc { + this.canSleep = can; + return this; + } + + /** + * Sets whether or not the rigid-body is to be created asleep. + * + * @param can - true if the rigid-body should be in sleep, default false. + */ + setSleeping(sleeping: boolean): RigidBodyDesc { + this.sleeping = sleeping; + return this; + } + + /** + * Sets whether Continuous Collision Detection (CCD) is enabled for this rigid-body. + * + * @param enabled - true if the rigid-body has CCD enabled. + */ + public setCcdEnabled(enabled: boolean): RigidBodyDesc { + this.ccdEnabled = enabled; + return this; + } + + /** + * Sets the maximum prediction distance Soft Continuous Collision-Detection. + * + * When set to 0, soft-CCD is disabled. Soft-CCD helps prevent tunneling especially of + * slow-but-thin to moderately fast objects. The soft CCD prediction distance indicates how + * far in the object’s path the CCD algorithm is allowed to inspect. Large values can impact + * performance badly by increasing the work needed from the broad-phase. + * + * It is a generally cheaper variant of regular CCD (that can be enabled with + * `RigidBodyDesc::setCcdEnabled` since it relies on predictive constraints instead of + * shape-cast and substeps. + */ + public setSoftCcdPrediction(distance: number): RigidBodyDesc { + this.softCcdPrediction = distance; + return this; + } + + /** + * Sets the user-defined object of this rigid-body. + * + * @param userData - The user-defined object to set. + */ + public setUserData(data?: unknown): RigidBodyDesc { + this.userData = data; + return this; + } +} diff --git a/packages/rapier-2d/src/dynamics/rigid_body_set.ts b/packages/rapier-2d/src/dynamics/rigid_body_set.ts new file mode 100644 index 00000000..dca422eb --- /dev/null +++ b/packages/rapier-2d/src/dynamics/rigid_body_set.ts @@ -0,0 +1,191 @@ +import {Coarena} from "../coarena"; +import {ColliderSet} from "../geometry"; +import {VectorOps, RotationOps} from "../math"; +import {RawRigidBodySet, RawRigidBodyType} from "../raw"; +import {ImpulseJointSet} from "./impulse_joint_set"; +import {IslandManager} from "./island_manager"; +import {MultibodyJointSet} from "./multibody_joint_set"; +import {RigidBody, RigidBodyDesc, RigidBodyHandle} from "./rigid_body"; + +/** + * A set of rigid bodies that can be handled by a physics pipeline. + * + * To avoid leaking WASM resources, this MUST be freed manually with `rigidBodySet.free()` + * once you are done using it (and all the rigid-bodies it created). + */ +export class RigidBodySet { + raw: RawRigidBodySet; + private map: Coarena; + + /** + * Release the WASM memory occupied by this rigid-body set. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + + if (!!this.map) { + this.map.clear(); + } + this.map = undefined!; + } + + constructor(raw?: RawRigidBodySet) { + this.raw = raw || new RawRigidBodySet(); + this.map = new Coarena(); + // deserialize + if (raw) { + raw.forEachRigidBodyHandle((handle: RigidBodyHandle) => { + this.map.set(handle, new RigidBody(raw, null!, handle)); + }); + } + } + + /** + * Internal method, do not call this explicitly. + */ + public finalizeDeserialization(colliderSet: ColliderSet) { + this.map.forEach((rb) => rb.finalizeDeserialization(colliderSet)); + } + + /** + * Creates a new rigid-body and return its integer handle. + * + * @param desc - The description of the rigid-body to create. + */ + public createRigidBody(colliderSet: ColliderSet, desc: RigidBodyDesc): RigidBody { + let rawTra = VectorOps.intoRaw(desc.translation); + let rawRot = RotationOps.intoRaw(desc.rotation); + let rawLv = VectorOps.intoRaw(desc.linvel); + let rawCom = VectorOps.intoRaw(desc.centerOfMass); + + let handle = this.raw.createRigidBody( + desc.enabled, + rawTra, + rawRot, + desc.gravityScale, + desc.mass, + desc.massOnly, + rawCom, + rawLv, + desc.angvel, + desc.principalAngularInertia, + desc.translationsEnabledX, + desc.translationsEnabledY, + desc.rotationsEnabled, + desc.linearDamping, + desc.angularDamping, + desc.status as number as RawRigidBodyType, + desc.canSleep, + desc.sleeping, + desc.softCcdPrediction, + desc.ccdEnabled, + desc.dominanceGroup, + desc.additionalSolverIterations, + ); + + rawTra.free(); + rawRot.free(); + rawLv.free(); + rawCom.free(); + + const body = new RigidBody(this.raw, colliderSet, handle); + body.userData = desc.userData; + + this.map.set(handle, body); + + return body; + } + + /** + * Removes a rigid-body from this set. + * + * This will also remove all the colliders and joints attached to the rigid-body. + * + * @param handle - The integer handle of the rigid-body to remove. + * @param colliders - The set of colliders that may contain colliders attached to the removed rigid-body. + * @param impulseJoints - The set of impulse joints that may contain joints attached to the removed rigid-body. + * @param multibodyJoints - The set of multibody joints that may contain joints attached to the removed rigid-body. + */ + public remove( + handle: RigidBodyHandle, + islands: IslandManager, + colliders: ColliderSet, + impulseJoints: ImpulseJointSet, + multibodyJoints: MultibodyJointSet, + ) { + // Unmap the entities that will be removed automatically because of the rigid-body removals. + for (let i = 0; i < this.raw.rbNumColliders(handle); i += 1) { + colliders.unmap(this.raw.rbCollider(handle, i)); + } + + impulseJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) => + impulseJoints.unmap(handle), + ); + multibodyJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) => + multibodyJoints.unmap(handle), + ); + + // Remove the rigid-body. + this.raw.remove(handle, islands.raw, colliders.raw, impulseJoints.raw, multibodyJoints.raw); + this.map.delete(handle); + } + + /** + * The number of rigid-bodies on this set. + */ + public len(): number { + return this.map.len(); + } + + /** + * Does this set contain a rigid-body with the given handle? + * + * @param handle - The rigid-body handle to check. + */ + public contains(handle: RigidBodyHandle): boolean { + return this.get(handle) != null; + } + + /** + * Gets the rigid-body with the given handle. + * + * @param handle - The handle of the rigid-body to retrieve. + */ + public get(handle: RigidBodyHandle): RigidBody | null { + return this.map.get(handle); + } + + /** + * Applies the given closure to each rigid-body contained by this set. + * + * @param f - The closure to apply. + */ + public forEach(f: (body: RigidBody) => void) { + this.map.forEach(f); + } + + /** + * Applies the given closure to each active rigid-bodies contained by this set. + * + * A rigid-body is active if it is not sleeping, i.e., if it moved recently. + * + * @param f - The closure to apply. + */ + public forEachActiveRigidBody(islands: IslandManager, f: (body: RigidBody) => void) { + islands.forEachActiveRigidBodyHandle((handle) => { + f(this.get(handle)!); + }); + } + + /** + * Gets all rigid-bodies in the list. + * + * @returns rigid-bodies list. + */ + public getAll(): RigidBody[] { + return this.map.getAll(); + } +} diff --git a/src.ts/exports.ts b/packages/rapier-2d/src/exports.ts similarity index 97% rename from src.ts/exports.ts rename to packages/rapier-2d/src/exports.ts index 237bd545..46ca8d90 100644 --- a/src.ts/exports.ts +++ b/packages/rapier-2d/src/exports.ts @@ -23,5 +23,4 @@ export * from "./math"; export * from "./dynamics"; export * from "./geometry"; export * from "./pipeline"; -export * from "./init"; export * from "./control"; diff --git a/src.ts/geometry/broad_phase.ts b/packages/rapier-2d/src/geometry/broad_phase.ts similarity index 92% rename from src.ts/geometry/broad_phase.ts rename to packages/rapier-2d/src/geometry/broad_phase.ts index addaee92..b7cb91aa 100644 --- a/src.ts/geometry/broad_phase.ts +++ b/packages/rapier-2d/src/geometry/broad_phase.ts @@ -1,15 +1,15 @@ -import {RawBroadPhase, RawRayColliderIntersection} from "../raw"; import {RigidBodyHandle, RigidBodySet} from "../dynamics"; +import {Rotation, RotationOps, Vector, VectorOps} from "../math"; +import {QueryFilterFlags} from "../pipeline"; +import {RawBroadPhase, RawRayColliderIntersection} from "../raw"; +import {ColliderHandle} from "./collider"; import {ColliderSet} from "./collider_set"; -import {Ray, RayColliderHit, RayColliderIntersection} from "./ray"; import {InteractionGroups} from "./interaction_groups"; -import {ColliderHandle} from "./collider"; -import {Rotation, RotationOps, Vector, VectorOps} from "../math"; -import {Shape} from "./shape"; +import {NarrowPhase} from "./narrow_phase"; import {PointColliderProjection} from "./point"; +import {Ray, RayColliderHit, RayColliderIntersection} from "./ray"; +import {Shape} from "./shape"; import {ColliderShapeCastHit} from "./toi"; -import {QueryFilterFlags} from "../pipeline"; -import {NarrowPhase} from "./narrow_phase"; /** * The broad-phase used for coarse collision-detection. @@ -27,7 +27,7 @@ export class BroadPhase { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw?: RawBroadPhase) { @@ -60,30 +60,25 @@ export class BroadPhase { filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean, ): RayColliderHit | null { - let rawOrig = VectorOps.intoRaw(ray.origin); - let rawDir = VectorOps.intoRaw(ray.dir); - let result = RayColliderHit.fromRaw( + return RayColliderHit.fromRaw( colliders, this.raw.castRay( narrowPhase.raw, bodies.raw, colliders.raw, - rawOrig, - rawDir, + ray.origin.x, + ray.origin.y, + ray.dir.x, + ray.dir.y, maxToi, solid, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, - ), + filterPredicate as unknown as Function, + )!, ); - - rawOrig.free(); - rawDir.free(); - - return result; } /** @@ -112,30 +107,25 @@ export class BroadPhase { filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean, ): RayColliderIntersection | null { - let rawOrig = VectorOps.intoRaw(ray.origin); - let rawDir = VectorOps.intoRaw(ray.dir); - let result = RayColliderIntersection.fromRaw( + return RayColliderIntersection.fromRaw( colliders, this.raw.castRayAndGetNormal( narrowPhase.raw, bodies.raw, colliders.raw, - rawOrig, - rawDir, + ray.origin.x, + ray.origin.y, + ray.dir.x, + ray.dir.y, maxToi, solid, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, - ), + filterPredicate as unknown as Function, + )!, ); - - rawOrig.free(); - rawDir.free(); - - return result; } /** @@ -166,32 +156,27 @@ export class BroadPhase { filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean, ) { - let rawOrig = VectorOps.intoRaw(ray.origin); - let rawDir = VectorOps.intoRaw(ray.dir); let rawCallback = (rawInter: RawRayColliderIntersection) => { - return callback( - RayColliderIntersection.fromRaw(colliders, rawInter), - ); + return callback(RayColliderIntersection.fromRaw(colliders, rawInter)!); }; this.raw.intersectionsWithRay( narrowPhase.raw, bodies.raw, colliders.raw, - rawOrig, - rawDir, + ray.origin.x, + ray.origin.y, + ray.dir.x, + ray.dir.y, maxToi, solid, rawCallback, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, + filterPredicate as unknown as Function, ); - - rawOrig.free(); - rawDir.free(); } /** @@ -227,18 +212,18 @@ export class BroadPhase { rawPos, rawRot, rawShape, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, + filterPredicate as unknown as Function, ); rawPos.free(); rawRot.free(); rawShape.free(); - return result; + return result ?? null; } /** @@ -275,12 +260,12 @@ export class BroadPhase { colliders.raw, rawPoint, solid, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, - ), + filterPredicate as unknown as Function, + )!, ); rawPoint.free(); @@ -315,12 +300,12 @@ export class BroadPhase { bodies.raw, colliders.raw, rawPoint, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, - ), + filterPredicate as unknown as Function, + )!, ); rawPoint.free(); @@ -358,11 +343,11 @@ export class BroadPhase { colliders.raw, rawPoint, callback, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, + filterPredicate as unknown as Function, ); rawPoint.free(); @@ -423,12 +408,12 @@ export class BroadPhase { targetDistance, maxToi, stopAtPenetration, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, - ), + filterPredicate as unknown as Function, + )!, ); rawPos.free(); @@ -476,11 +461,11 @@ export class BroadPhase { rawRot, rawShape, callback, - filterFlags, + filterFlags ?? 0, filterGroups, filterExcludeCollider, filterExcludeRigidBody, - filterPredicate, + filterPredicate as unknown as Function, ); rawPos.free(); diff --git a/packages/rapier-2d/src/geometry/collider.ts b/packages/rapier-2d/src/geometry/collider.ts new file mode 100644 index 00000000..71a27611 --- /dev/null +++ b/packages/rapier-2d/src/geometry/collider.ts @@ -0,0 +1,1506 @@ +import {CoefficientCombineRule, RigidBody, RigidBodySet} from "../dynamics"; +import {Rotation, RotationOps, Vector, VectorOps} from "../math"; +import {ActiveHooks, ActiveEvents} from "../pipeline"; +import {ColliderSet} from "./collider_set"; +import {ShapeContact} from "./contact"; +import {InteractionGroups} from "./interaction_groups"; +import {PointProjection} from "./point"; +import {Ray, RayIntersection} from "./ray"; +import { + Shape, + Cuboid, + Ball, + ShapeType, + Capsule, + Voxels, + TriMesh, + Polyline, + Heightfield, + Segment, + Triangle, + RoundTriangle, + RoundCuboid, + HalfSpace, + TriMeshFlags, + ConvexPolygon, + RoundConvexPolygon, +} from "./shape"; +import {ColliderShapeCastHit, ShapeCastHit} from "./toi"; + +/** + * Flags affecting whether collision-detection happens between two colliders + * depending on the type of rigid-bodies they are attached to. + */ +export enum ActiveCollisionTypes { + /** + * Enable collision-detection between a collider attached to a dynamic body + * and another collider attached to a dynamic body. + */ + DYNAMIC_DYNAMIC = 0b0000_0000_0000_0001, + /** + * Enable collision-detection between a collider attached to a dynamic body + * and another collider attached to a kinematic body. + */ + DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100, + /** + * Enable collision-detection between a collider attached to a dynamic body + * and another collider attached to a fixed body (or not attached to any body). + */ + DYNAMIC_FIXED = 0b0000_0000_0000_0010, + /** + * Enable collision-detection between a collider attached to a kinematic body + * and another collider attached to a kinematic body. + */ + KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000, + + /** + * Enable collision-detection between a collider attached to a kinematic body + * and another collider attached to a fixed body (or not attached to any body). + */ + KINEMATIC_FIXED = 0b0010_0010_0000_0000, + + /** + * Enable collision-detection between a collider attached to a fixed body (or + * not attached to any body) and another collider attached to a fixed body (or + * not attached to any body). + */ + FIXED_FIXED = 0b0000_0000_0010_0000, + /** + * The default active collision types, enabling collisions between a dynamic body + * and another body of any type, but not enabling collisions between two non-dynamic bodies. + */ + DEFAULT = DYNAMIC_KINEMATIC | DYNAMIC_DYNAMIC | DYNAMIC_FIXED, + /** + * Enable collisions between any kind of rigid-bodies (including between two non-dynamic bodies). + */ + ALL = DYNAMIC_KINEMATIC | + DYNAMIC_DYNAMIC | + DYNAMIC_FIXED | + KINEMATIC_KINEMATIC | + KINEMATIC_FIXED | + KINEMATIC_KINEMATIC, +} + +/** + * The integer identifier of a collider added to a `ColliderSet`. + */ +export type ColliderHandle = number; + +/** + * A geometric entity that can be attached to a body so it can be affected + * by contacts and proximity queries. + */ +export class Collider { + private colliderSet: ColliderSet; // The Collider won't need to free this. + readonly handle: ColliderHandle; + private _shape: Shape; // TODO: deprecate/remove this since it isn't a reliable way of getting the latest shape properties. + private _parent: RigidBody | null; + private scratchBuffer: Float32Array; + + constructor( + colliderSet: ColliderSet, + handle: ColliderHandle, + parent: RigidBody | null, + shape?: Shape, + ) { + this.colliderSet = colliderSet; + this.handle = handle; + this._parent = parent; + this._shape = shape!; + this.scratchBuffer = new Float32Array(4); + } + + /** @internal */ + public finalizeDeserialization(bodies: RigidBodySet) { + if (this.handle != null) { + this._parent = bodies.get(this.colliderSet.raw.coParent(this.handle)!); + } + } + + private ensureShapeIsCached() { + if (!this._shape) this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle); + } + + /** + * The shape of this collider. + */ + public get shape(): Shape { + this.ensureShapeIsCached(); + return this._shape; + } + + /** + * Set the internal cached JS shape to null. + * + * This can be useful if you want to free some memory (assuming you are not + * holding any other references to the shape object), or in order to force + * the recalculation of the JS shape (the next time the `shape` getter is + * accessed) from the WASM source of truth. + */ + public clearShapeCache() { + this._shape = null!; + } + + /** + * Checks if this collider is still valid (i.e. that it has + * not been deleted from the collider set yet). + */ + public isValid(): boolean { + return this.colliderSet.raw.contains(this.handle); + } + + /** + * The world-space translation of this collider. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public translation(target?: Vector): Vector { + this.colliderSet.raw.coTranslation(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The translation of this collider relative to its parent rigid-body. + * + * Returns `null` if the collider doesn't have a parent rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). + */ + public translationWrtParent(target?: Vector): Vector | null { + const hasParent = this.colliderSet.raw.coTranslationWrtParent( + this.handle, + this.scratchBuffer, + ); + if (!hasParent) return null; + return VectorOps.fromBuffer(this.scratchBuffer, target); + } + + /** + * The world-space orientation of this collider. + */ + public rotation(): Rotation { + this.colliderSet.raw.coRotation(this.handle, this.scratchBuffer); + return RotationOps.fromBuffer(this.scratchBuffer); + } + + /** + * The orientation of this collider relative to its parent rigid-body. + * + * Returns `null` if the collider doesn't have a parent rigid-body. + */ + public rotationWrtParent(): Rotation | null { + const hasParent = this.colliderSet.raw.coRotationWrtParent(this.handle, this.scratchBuffer); + if (!hasParent) return null; + return RotationOps.fromBuffer(this.scratchBuffer); + } + + /** + * Is this collider a sensor? + */ + public isSensor(): boolean { + return this.colliderSet.raw.coIsSensor(this.handle); + } + + /** + * Sets whether this collider is a sensor. + * @param isSensor - If `true`, the collider will be a sensor. + */ + public setSensor(isSensor: boolean) { + this.colliderSet.raw.coSetSensor(this.handle, isSensor); + } + + /** + * Sets the new shape of the collider. + * @param shape - The collider’s new shape. + */ + public setShape(shape: Shape) { + let rawShape = shape.intoRaw(); + this.colliderSet.raw.coSetShape(this.handle, rawShape); + rawShape.free(); + this._shape = shape; + } + + /** + * Sets whether this collider is enabled or not. + * + * @param enabled - Set to `false` to disable this collider (its parent rigid-body won’t be disabled automatically by this). + */ + public setEnabled(enabled: boolean) { + this.colliderSet.raw.coSetEnabled(this.handle, enabled); + } + + /** + * Is this collider enabled? + */ + public isEnabled(): boolean { + return this.colliderSet.raw.coIsEnabled(this.handle); + } + + /** + * Sets the restitution coefficient of the collider to be created. + * + * @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior + * while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the + * constraints solver). + */ + public setRestitution(restitution: number) { + this.colliderSet.raw.coSetRestitution(this.handle, restitution); + } + + /** + * Sets the friction coefficient of the collider to be created. + * + * @param friction - The friction coefficient. Must be greater or equal to 0. This is generally smaller than 1. The + * higher the coefficient, the stronger friction forces will be for contacts with the collider + * being built. + */ + public setFriction(friction: number) { + this.colliderSet.raw.coSetFriction(this.handle, friction); + } + + /** + * Gets the rule used to combine the friction coefficients of two colliders + * colliders involved in a contact. + */ + public frictionCombineRule(): CoefficientCombineRule { + return this.colliderSet.raw.coFrictionCombineRule(this.handle); + } + + /** + * Sets the rule used to combine the friction coefficients of two colliders + * colliders involved in a contact. + * + * @param rule − The combine rule to apply. + */ + public setFrictionCombineRule(rule: CoefficientCombineRule) { + this.colliderSet.raw.coSetFrictionCombineRule(this.handle, rule); + } + + /** + * Gets the rule used to combine the restitution coefficients of two colliders + * colliders involved in a contact. + */ + public restitutionCombineRule(): CoefficientCombineRule { + return this.colliderSet.raw.coRestitutionCombineRule(this.handle); + } + + /** + * Sets the rule used to combine the restitution coefficients of two colliders + * colliders involved in a contact. + * + * @param rule − The combine rule to apply. + */ + public setRestitutionCombineRule(rule: CoefficientCombineRule) { + this.colliderSet.raw.coSetRestitutionCombineRule(this.handle, rule); + } + + /** + * Sets the collision groups used by this collider. + * + * Two colliders will interact iff. their collision groups are compatible. + * See the documentation of `InteractionGroups` for details on teh used bit pattern. + * + * @param groups - The collision groups used for the collider being built. + */ + public setCollisionGroups(groups: InteractionGroups) { + this.colliderSet.raw.coSetCollisionGroups(this.handle, groups); + } + + /** + * Sets the solver groups used by this collider. + * + * Forces between two colliders in contact will be computed iff their solver + * groups are compatible. + * See the documentation of `InteractionGroups` for details on the used bit pattern. + * + * @param groups - The solver groups used for the collider being built. + */ + public setSolverGroups(groups: InteractionGroups) { + this.colliderSet.raw.coSetSolverGroups(this.handle, groups); + } + + /** + * Sets the contact skin for this collider. + * + * See the documentation of `ColliderDesc.setContactSkin` for additional details. + */ + public contactSkin(): number { + return this.colliderSet.raw.coContactSkin(this.handle); + } + + /** + * Sets the contact skin for this collider. + * + * See the documentation of `ColliderDesc.setContactSkin` for additional details. + * + * @param thickness - The contact skin thickness. + */ + public setContactSkin(thickness: number) { + return this.colliderSet.raw.coSetContactSkin(this.handle, thickness); + } + + /** + * Get the physics hooks active for this collider. + */ + public activeHooks(): ActiveHooks { + return this.colliderSet.raw.coActiveHooks(this.handle); + } + + /** + * Set the physics hooks active for this collider. + * + * Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider. + * + * @param activeHooks - The hooks active for contact/intersection pairs involving this collider. + */ + public setActiveHooks(activeHooks: ActiveHooks) { + this.colliderSet.raw.coSetActiveHooks(this.handle, activeHooks); + } + + /** + * The events active for this collider. + */ + public activeEvents(): ActiveEvents { + return this.colliderSet.raw.coActiveEvents(this.handle); + } + + /** + * Set the events active for this collider. + * + * Use this to enable contact and/or intersection event reporting for this collider. + * + * @param activeEvents - The events active for contact/intersection pairs involving this collider. + */ + public setActiveEvents(activeEvents: ActiveEvents) { + this.colliderSet.raw.coSetActiveEvents(this.handle, activeEvents); + } + + /** + * Gets the collision types active for this collider. + */ + public activeCollisionTypes(): ActiveCollisionTypes { + return this.colliderSet.raw.coActiveCollisionTypes(this.handle); + } + + /** + * Sets the total force magnitude beyond which a contact force event can be emitted. + * + * @param threshold - The new force threshold. + */ + public setContactForceEventThreshold(threshold: number) { + return this.colliderSet.raw.coSetContactForceEventThreshold(this.handle, threshold); + } + + /** + * The total force magnitude beyond which a contact force event can be emitted. + */ + public contactForceEventThreshold(): number { + return this.colliderSet.raw.coContactForceEventThreshold(this.handle); + } + + /** + * Set the collision types active for this collider. + * + * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider. + */ + public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes) { + this.colliderSet.raw.coSetActiveCollisionTypes(this.handle, activeCollisionTypes); + } + + /** + * Sets the uniform density of this collider. + * + * This will override any previous mass-properties set by `this.setDensity`, + * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`, + * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider. + * + * The mass and angular inertia of this collider will be computed automatically based on its + * shape. + */ + public setDensity(density: number) { + this.colliderSet.raw.coSetDensity(this.handle, density); + } + + /** + * Sets the mass of this collider. + * + * This will override any previous mass-properties set by `this.setDensity`, + * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`, + * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider. + * + * The angular inertia of this collider will be computed automatically based on its shape + * and this mass value. + */ + public setMass(mass: number) { + this.colliderSet.raw.coSetMass(this.handle, mass); + } + + /** + * Sets the mass of this collider. + * + * This will override any previous mass-properties set by `this.setDensity`, + * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`, + * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider. + */ + public setMassProperties(mass: number, centerOfMass: Vector, principalAngularInertia: number) { + let rawCom = VectorOps.intoRaw(centerOfMass); + this.colliderSet.raw.coSetMassProperties( + this.handle, + mass, + rawCom, + principalAngularInertia, + ); + rawCom.free(); + } + + /** + * Sets the translation of this collider. + * + * @param tra - The world-space position of the collider. + */ + public setTranslation(tra: Vector) { + this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y); + } + + /** + * Sets the translation of this collider relative to its parent rigid-body. + * + * Does nothing if this collider isn't attached to a rigid-body. + * + * @param tra - The new translation of the collider relative to its parent. + */ + public setTranslationWrtParent(tra: Vector) { + this.colliderSet.raw.coSetTranslationWrtParent(this.handle, tra.x, tra.y); + } + + /** + * Sets the rotation angle of this collider. + * + * @param angle - The rotation angle, in radians. + */ + public setRotation(angle: number) { + this.colliderSet.raw.coSetRotation(this.handle, angle); + } + + /** + * Sets the rotation angle of this collider relative to its parent rigid-body. + * + * Does nothing if this collider isn't attached to a rigid-body. + * + * @param angle - The rotation angle, in radians. + */ + public setRotationWrtParent(angle: number) { + this.colliderSet.raw.coSetRotationWrtParent(this.handle, angle); + } + + /** + * The type of the shape of this collider. + */ + public shapeType(): ShapeType { + return this.colliderSet.raw.coShapeType(this.handle) as number as ShapeType; + } + + /** + * The half-extents of this collider if it is a cuboid shape. + */ + public halfExtents(): Vector { + return VectorOps.fromRaw(this.colliderSet.raw.coHalfExtents(this.handle)!)!; + } + + /** + * Sets the half-extents of this collider if it is a cuboid shape. + * + * @param newHalfExtents - desired half extents. + */ + public setHalfExtents(newHalfExtents: Vector) { + const rawPoint = VectorOps.intoRaw(newHalfExtents); + this.colliderSet.raw.coSetHalfExtents(this.handle, rawPoint); + } + + /** + * The radius of this collider if it is a ball, cylinder, capsule, or cone shape. + */ + public radius(): number { + return this.colliderSet.raw.coRadius(this.handle)!; + } + + /** + * Sets the radius of this collider if it is a ball, cylinder, capsule, or cone shape. + * + * @param newRadius - desired radius. + */ + public setRadius(newRadius: number): void { + this.colliderSet.raw.coSetRadius(this.handle, newRadius); + } + + /** + * The radius of the round edges of this collider if it is a round cylinder. + */ + public roundRadius(): number { + return this.colliderSet.raw.coRoundRadius(this.handle)!; + } + + /** + * Sets the radius of the round edges of this collider if it has round edges. + * + * @param newBorderRadius - desired round edge radius. + */ + public setRoundRadius(newBorderRadius: number) { + this.colliderSet.raw.coSetRoundRadius(this.handle, newBorderRadius); + } + + /** + * The half height of this collider if it is a cylinder, capsule, or cone shape. + */ + public halfHeight(): number { + return this.colliderSet.raw.coHalfHeight(this.handle)!; + } + + /** + * Sets the half height of this collider if it is a cylinder, capsule, or cone shape. + * + * @param newHalfheight - desired half height. + */ + public setHalfHeight(newHalfheight: number) { + this.colliderSet.raw.coSetHalfHeight(this.handle, newHalfheight); + } + + /** + * If this collider has a Voxels shape, this will mark the voxel at the + * given grid coordinates as filled or empty (depending on the `filled` + * argument). + * + * Each input value is assumed to be an integer. + * + * The operation is O(1), unless the provided coordinates are out of the + * bounds of the currently allocated internal grid in which case the grid + * will be grown automatically. + */ + public setVoxel(ix: number, iy: number, filled: boolean) { + this.colliderSet.raw.coSetVoxel(this.handle, ix, iy, filled); + // We modified the shape, invalidate it to keep our cache + // up-to-date the next time the user requests the shape data. + // PERF: this isn't ideal for performances as this adds a + // hidden, non-constant, cost. + this._shape = null!; + } + + /** + * If this and `voxels2` are voxel colliders, and a voxel from `this` was + * modified with `setVoxel`, this will ensure that a + * moving object transitioning across the boundaries of these colliders + * won’t suffer from the "internal edges" artifact. + * + * The indices `ix, iy, iz` indicate the integer coordinates of the voxel in + * the local coordinate frame of `this`. + * + * If the voxels in `voxels2` live in a different coordinate space from `this`, + * then the `shift_*` argument indicate the distance, in voxel units, between + * the origin of `this` to the origin of `voxels2`. + * + * This method is intended to be called between `this` and all the other + * voxels colliders with a domain intersecting `this` or sharing a domain + * boundary. This is an incremental maintenance of the effect of + * `combineVoxelStates`. + */ + public propagateVoxelChange( + voxels2: Collider, + ix: number, + iy: number, + shift_x: number, + shift_y: number, + ) { + this.colliderSet.raw.coPropagateVoxelChange( + this.handle, + voxels2.handle, + ix, + iy, + shift_x, + shift_y, + ); + // We modified the shape, invalidate it to keep our cache + // up-to-date the next time the user requests the shape data. + // PERF: this isn't ideal for performances as this adds a + // hidden, non-constant, cost. + this._shape = null!; + } + + /** + * If this and `voxels2` are voxel colliders, this will ensure that a + * moving object transitioning across the boundaries of these colliders + * won’t suffer from the "internal edges" artifact. + * + * If the voxels in `voxels2` live in a different coordinate space from `this`, + * then the `shift_*` argument indicate the distance, in voxel units, between + * the origin of `this` to the origin of `voxels2`. + * + * This method is intended to be called once between all pairs of voxels + * colliders with intersecting domains or shared boundaries. + * + * If either voxels collider is then modified with `setVoxel`, the + * `propagateVoxelChange` method must be called to maintain the coupling + * between the voxels shapes after the modification. + */ + public combineVoxelStates(voxels2: Collider, shift_x: number, shift_y: number) { + this.colliderSet.raw.coCombineVoxelStates(this.handle, voxels2.handle, shift_x, shift_y); + // We modified the shape, invalidate it to keep our cache + // up-to-date the next time the user requests the shape data. + // PERF: this isn't ideal for performances as this adds a + // hidden, non-constant, cost. + this._shape = null!; + } + + /** + * If this collider has a triangle mesh, polyline, convex polygon, or convex polyhedron shape, + * this returns the vertex buffer of said shape. + */ + public vertices(): Float32Array { + return this.colliderSet.raw.coVertices(this.handle)!; + } + + /** + * If this collider has a triangle mesh, polyline, or convex polyhedron shape, + * this returns the index buffer of said shape. + */ + public indices(): Uint32Array | undefined { + return this.colliderSet.raw.coIndices(this.handle); + } + + /** + * If this collider has a heightfield shape, this returns the heights buffer of + * the heightfield. + * In 3D, the returned height matrix is provided in column-major order. + */ + public heightfieldHeights(): Float32Array { + return this.colliderSet.raw.coHeightfieldHeights(this.handle)!; + } + + /** + * If this collider has a heightfield shape, this returns the scale + * applied to it. + */ + public heightfieldScale(): Vector { + let scale = this.colliderSet.raw.coHeightfieldScale(this.handle)!; + return VectorOps.fromRaw(scale)!; + } + + /** + * The rigid-body this collider is attached to. + */ + public parent(): RigidBody | null { + return this._parent; + } + + /** + * The friction coefficient of this collider. + */ + public friction(): number { + return this.colliderSet.raw.coFriction(this.handle); + } + + /** + * The restitution coefficient of this collider. + */ + public restitution(): number { + return this.colliderSet.raw.coRestitution(this.handle); + } + + /** + * The density of this collider. + */ + public density(): number { + return this.colliderSet.raw.coDensity(this.handle); + } + + /** + * The mass of this collider. + */ + public mass(): number { + return this.colliderSet.raw.coMass(this.handle); + } + + /** + * The volume of this collider. + */ + public volume(): number { + return this.colliderSet.raw.coVolume(this.handle); + } + + /** + * The collision groups of this collider. + */ + public collisionGroups(): InteractionGroups { + return this.colliderSet.raw.coCollisionGroups(this.handle); + } + + /** + * The solver groups of this collider. + */ + public solverGroups(): InteractionGroups { + return this.colliderSet.raw.coSolverGroups(this.handle); + } + + /** + * Tests if this collider contains a point. + * + * @param point - The point to test. + */ + public containsPoint(point: Vector): boolean { + let rawPoint = VectorOps.intoRaw(point); + let result = this.colliderSet.raw.coContainsPoint(this.handle, rawPoint); + + rawPoint.free(); + + return result; + } + + /** + * Find the projection of a point on this collider. + * + * @param point - The point to project. + * @param solid - If this is set to `true` then the collider shapes are considered to + * be plain (if the point is located inside of a plain shape, its projection is the point + * itself). If it is set to `false` the collider shapes are considered to be hollow + * (if the point is located inside of an hollow shape, it is projected on the shape's + * boundary). + */ + public projectPoint(point: Vector, solid: boolean): PointProjection | null { + let rawPoint = VectorOps.intoRaw(point); + let result = PointProjection.fromRaw( + this.colliderSet.raw.coProjectPoint(this.handle, rawPoint, solid), + ); + + rawPoint.free(); + + return result; + } + + /** + * Tests if this collider intersects the given ray. + * + * @param ray - The ray to cast. + * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively + * limits the length of the ray to `ray.dir.norm() * maxToi`. + */ + public intersectsRay(ray: Ray, maxToi: number): boolean { + let rawOrig = VectorOps.intoRaw(ray.origin); + let rawDir = VectorOps.intoRaw(ray.dir); + let result = this.colliderSet.raw.coIntersectsRay(this.handle, rawOrig, rawDir, maxToi); + + rawOrig.free(); + rawDir.free(); + + return result; + } + + /* + * Computes the smallest time between this and the given shape under translational movement are separated by a distance smaller or equal to distance. + * + * @param collider1Vel - The constant velocity of the current shape to cast (i.e. the cast direction). + * @param shape2 - The shape to cast against. + * @param shape2Pos - The position of the second shape. + * @param shape2Rot - The rotation of the second shape. + * @param shape2Vel - The constant velocity of the second shape. + * @param targetDistance − If the shape moves closer to this distance from a collider, a hit + * will be returned. + * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively + * limits the distance traveled by the shape to `collider1Vel.norm() * maxToi`. + * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if + * the shape is penetrating another shape at its starting point **and** its trajectory is such + * that it’s on a path to exit that penetration state. + */ + public castShape( + collider1Vel: Vector, + shape2: Shape, + shape2Pos: Vector, + shape2Rot: Rotation, + shape2Vel: Vector, + targetDistance: number, + maxToi: number, + stopAtPenetration: boolean, + ): ShapeCastHit | null { + let rawCollider1Vel = VectorOps.intoRaw(collider1Vel); + let rawShape2Pos = VectorOps.intoRaw(shape2Pos); + let rawShape2Rot = RotationOps.intoRaw(shape2Rot); + let rawShape2Vel = VectorOps.intoRaw(shape2Vel); + let rawShape2 = shape2.intoRaw(); + + let result = ShapeCastHit.fromRaw( + this.colliderSet, + this.colliderSet.raw.coCastShape( + this.handle, + rawCollider1Vel, + rawShape2, + rawShape2Pos, + rawShape2Rot, + rawShape2Vel, + targetDistance, + maxToi, + stopAtPenetration, + )!, + ); + + rawCollider1Vel.free(); + rawShape2Pos.free(); + rawShape2Rot.free(); + rawShape2Vel.free(); + rawShape2.free(); + + return result; + } + + /* + * Computes the smallest time between this and the given collider under translational movement are separated by a distance smaller or equal to distance. + * + * @param collider1Vel - The constant velocity of the current collider to cast (i.e. the cast direction). + * @param collider2 - The collider to cast against. + * @param collider2Vel - The constant velocity of the second collider. + * @param targetDistance − If the shape moves closer to this distance from a collider, a hit + * will be returned. + * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively + * limits the distance traveled by the shape to `shapeVel.norm() * maxToi`. + * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if + * the shape is penetrating another shape at its starting point **and** its trajectory is such + * that it’s on a path to exit that penetration state. + */ + public castCollider( + collider1Vel: Vector, + collider2: Collider, + collider2Vel: Vector, + targetDistance: number, + maxToi: number, + stopAtPenetration: boolean, + ): ColliderShapeCastHit | null { + let rawCollider1Vel = VectorOps.intoRaw(collider1Vel); + let rawCollider2Vel = VectorOps.intoRaw(collider2Vel); + + let result = ColliderShapeCastHit.fromRaw( + this.colliderSet, + this.colliderSet.raw.coCastCollider( + this.handle, + rawCollider1Vel, + collider2.handle, + rawCollider2Vel, + targetDistance, + maxToi, + stopAtPenetration, + )!, + ); + + rawCollider1Vel.free(); + rawCollider2Vel.free(); + + return result; + } + + public intersectsShape(shape2: Shape, shapePos2: Vector, shapeRot2: Rotation): boolean { + let rawPos2 = VectorOps.intoRaw(shapePos2); + let rawRot2 = RotationOps.intoRaw(shapeRot2); + let rawShape2 = shape2.intoRaw(); + + let result = this.colliderSet.raw.coIntersectsShape( + this.handle, + rawShape2, + rawPos2, + rawRot2, + ); + + rawPos2.free(); + rawRot2.free(); + rawShape2.free(); + + return result; + } + + /** + * Computes one pair of contact points between the shape owned by this collider and the given shape. + * + * @param shape2 - The second shape. + * @param shape2Pos - The initial position of the second shape. + * @param shape2Rot - The rotation of the second shape. + * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail. + * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space. + */ + contactShape( + shape2: Shape, + shape2Pos: Vector, + shape2Rot: Rotation, + prediction: number, + ): ShapeContact | null { + let rawPos2 = VectorOps.intoRaw(shape2Pos); + let rawRot2 = RotationOps.intoRaw(shape2Rot); + let rawShape2 = shape2.intoRaw(); + + let result = ShapeContact.fromRaw( + this.colliderSet.raw.coContactShape( + this.handle, + rawShape2, + rawPos2, + rawRot2, + prediction, + )!, + ); + + rawPos2.free(); + rawRot2.free(); + rawShape2.free(); + + return result; + } + + /** + * Computes one pair of contact points between the collider and the given collider. + * + * @param collider2 - The second collider. + * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail. + * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space. + */ + contactCollider(collider2: Collider, prediction: number): ShapeContact | null { + let result = ShapeContact.fromRaw( + this.colliderSet.raw.coContactCollider(this.handle, collider2.handle, prediction)!, + ); + + return result; + } + + /** + * Find the closest intersection between a ray and this collider. + * + * This also computes the normal at the hit point. + * @param ray - The ray to cast. + * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively + * limits the length of the ray to `ray.dir.norm() * maxToi`. + * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its + * origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain, + * whereas `false` implies that all shapes are hollow for this ray-cast. + * @returns The time-of-impact between this collider and the ray, or `-1` if there is no intersection. + */ + public castRay(ray: Ray, maxToi: number, solid: boolean): number { + let rawOrig = VectorOps.intoRaw(ray.origin); + let rawDir = VectorOps.intoRaw(ray.dir); + let result = this.colliderSet.raw.coCastRay(this.handle, rawOrig, rawDir, maxToi, solid); + + rawOrig.free(); + rawDir.free(); + + return result; + } + + /** + * Find the closest intersection between a ray and this collider. + * + * This also computes the normal at the hit point. + * @param ray - The ray to cast. + * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively + * limits the length of the ray to `ray.dir.norm() * maxToi`. + * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its + * origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain, + * whereas `false` implies that all shapes are hollow for this ray-cast. + */ + public castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean): RayIntersection | null { + let rawOrig = VectorOps.intoRaw(ray.origin); + let rawDir = VectorOps.intoRaw(ray.dir); + let result = RayIntersection.fromRaw( + this.colliderSet.raw.coCastRayAndGetNormal( + this.handle, + rawOrig, + rawDir, + maxToi, + solid, + )!, + ); + + rawOrig.free(); + rawDir.free(); + + return result; + } +} + +export enum MassPropsMode { + Density, + Mass, + MassProps, +} + +export class ColliderDesc { + enabled: boolean; + shape: Shape; + massPropsMode: MassPropsMode; + mass: number; + centerOfMass: Vector; + principalAngularInertia: number; + rotationsEnabled: boolean; + density: number; + friction: number; + restitution: number; + rotation: Rotation; + translation: Vector; + isSensor: boolean; + collisionGroups: InteractionGroups; + solverGroups: InteractionGroups; + frictionCombineRule: CoefficientCombineRule; + restitutionCombineRule: CoefficientCombineRule; + activeEvents: ActiveEvents; + activeHooks: ActiveHooks; + activeCollisionTypes: ActiveCollisionTypes; + contactForceEventThreshold: number; + contactSkin: number; + + /** + * Initializes a collider descriptor from the collision shape. + * + * @param shape - The shape of the collider being built. + */ + constructor(shape: Shape) { + this.enabled = true; + this.shape = shape; + this.massPropsMode = MassPropsMode.Density; + this.density = 1.0; + this.friction = 0.5; + this.restitution = 0.0; + this.rotation = RotationOps.identity(); + this.translation = VectorOps.zeros(); + this.isSensor = false; + this.collisionGroups = 0xffff_ffff; + this.solverGroups = 0xffff_ffff; + this.frictionCombineRule = CoefficientCombineRule.Average; + this.restitutionCombineRule = CoefficientCombineRule.Average; + this.activeCollisionTypes = ActiveCollisionTypes.DEFAULT; + this.activeEvents = ActiveEvents.NONE; + this.activeHooks = ActiveHooks.NONE; + this.mass = 0.0; + this.centerOfMass = VectorOps.zeros(); + this.contactForceEventThreshold = 0.0; + this.contactSkin = 0.0; + + this.principalAngularInertia = 0.0; + this.rotationsEnabled = true; + } + + /** + * Create a new collider descriptor with a ball shape. + * + * @param radius - The radius of the ball. + */ + public static ball(radius: number): ColliderDesc { + const shape = new Ball(radius); + return new ColliderDesc(shape); + } + + /** + * Create a new collider descriptor with a capsule shape. + * + * @param halfHeight - The half-height of the capsule, along the `y` axis. + * @param radius - The radius of the capsule basis. + */ + public static capsule(halfHeight: number, radius: number): ColliderDesc { + const shape = new Capsule(halfHeight, radius); + return new ColliderDesc(shape); + } + + /** + * Creates a new segment shape. + * + * @param a - The first point of the segment. + * @param b - The second point of the segment. + */ + public static segment(a: Vector, b: Vector): ColliderDesc { + const shape = new Segment(a, b); + return new ColliderDesc(shape); + } + + /** + * Creates a new triangle shape. + * + * @param a - The first point of the triangle. + * @param b - The second point of the triangle. + * @param c - The third point of the triangle. + */ + public static triangle(a: Vector, b: Vector, c: Vector): ColliderDesc { + const shape = new Triangle(a, b, c); + return new ColliderDesc(shape); + } + + /** + * Creates a new triangle shape with round corners. + * + * @param a - The first point of the triangle. + * @param b - The second point of the triangle. + * @param c - The third point of the triangle. + * @param borderRadius - The radius of the borders of this triangle. In 3D, + * this is also equal to half the thickness of the triangle. + */ + public static roundTriangle( + a: Vector, + b: Vector, + c: Vector, + borderRadius: number, + ): ColliderDesc { + const shape = new RoundTriangle(a, b, c, borderRadius); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor with a polyline shape. + * + * @param vertices - The coordinates of the polyline's vertices. + * @param indices - The indices of the polyline's segments. If this is `undefined` or `null`, + * the vertices are assumed to describe a line strip. + */ + public static polyline(vertices: Float32Array, indices?: Uint32Array): ColliderDesc { + const shape = new Polyline(vertices, indices); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor with a shape made of voxels. + * + * @param data - Defines the set of voxels. If this is a `Int32Array` then + * each voxel is defined from its (signed) grid coordinates, + * with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D). + * If this is a `Float32Array`, each voxel will be such that + * they contain at least one point from this array (where each + * point is defined from 3 (resp 2) contiguous numbers per point + * in 3D (resp 2D). + * @param voxelSize - The size of each voxel. + */ + public static voxels(voxels: Float32Array | Int32Array, voxelSize: Vector): ColliderDesc { + const shape = new Voxels(voxels, voxelSize); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor with a triangle mesh shape. + * + * @param vertices - The coordinates of the triangle mesh's vertices. + * @param indices - The indices of the triangle mesh's triangles. + */ + public static trimesh( + vertices: Float32Array, + indices: Uint32Array, + flags?: TriMeshFlags, + ): ColliderDesc { + const shape = new TriMesh(vertices, indices, flags); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor with a rectangular 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. + */ + public static cuboid(hx: number, hy: number): ColliderDesc { + const shape = new Cuboid(hx, hy); + 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 borderRadius - The radius of the cuboid's borders. + */ + public static roundCuboid(hx: number, hy: number, borderRadius: number): ColliderDesc { + const shape = new RoundCuboid(hx, hy, borderRadius); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider description with a halfspace (infinite plane) shape. + * + * @param normal - The outward normal of the plane. + */ + public static halfspace(normal: Vector): ColliderDesc { + const shape = new HalfSpace(normal); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor with a heightfield shape. + * + * @param heights - The heights of the heightfield, along its local `y` axis. + * @param scale - The scale factor applied to the heightfield. + */ + public static heightfield(heights: Float32Array, scale: Vector): ColliderDesc { + const shape = new Heightfield(heights, scale); + return new ColliderDesc(shape); + } + + /** + * Computes the convex-hull of the given points and use the resulting + * convex polygon as the shape for this new collider descriptor. + * + * @param points - The point that will be used to compute the convex-hull. + */ + public static convexHull(points: Float32Array): ColliderDesc | null { + const shape = new ConvexPolygon(points, false); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor that uses the given set of points assumed + * to form a convex polyline (no convex-hull computation will be done). + * + * @param vertices - The vertices of the convex polyline. + */ + public static convexPolyline(vertices: Float32Array): ColliderDesc | null { + const shape = new ConvexPolygon(vertices, true); + return new ColliderDesc(shape); + } + + /** + * Computes the convex-hull of the given points and use the resulting + * convex polygon as the shape for this new collider descriptor. A + * border is added to that convex polygon 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 polygon. + */ + public static roundConvexHull(points: Float32Array, borderRadius: number): ColliderDesc | null { + const shape = new RoundConvexPolygon(points, borderRadius, false); + return new ColliderDesc(shape); + } + + /** + * Creates a new collider descriptor that uses the given set of points assumed + * to form a round convex polyline (no convex-hull computation will be done). + * + * @param vertices - The vertices of the convex polyline. + * @param borderRadius - The radius of the round border added to the convex polyline. + */ + public static roundConvexPolyline( + vertices: Float32Array, + borderRadius: number, + ): ColliderDesc | null { + const shape = new RoundConvexPolygon(vertices, borderRadius, true); + return new ColliderDesc(shape); + } + + /** + * Sets the position of the collider to be created relative to the rigid-body it is attached to. + */ + public setTranslation(x: number, y: number): ColliderDesc { + if (typeof x != "number" || typeof y != "number") + throw TypeError("The translation components must be numbers."); + + this.translation = {x: x, y: y}; + return this; + } + + /** + * 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. + */ + public setRotation(rot: Rotation): ColliderDesc { + this.rotation = rot; + 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. + */ + public setSensor(sensor: boolean): ColliderDesc { + 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. + */ + public setEnabled(enabled: boolean): ColliderDesc { + 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. + */ + public setContactSkin(thickness: number): ColliderDesc { + 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. + */ + public setDensity(density: number): ColliderDesc { + 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. + */ + public setMass(mass: number): ColliderDesc { + this.massPropsMode = MassPropsMode.Mass; + this.mass = mass; + return this; + } + + /** + * 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 principal angular inertia of the collider to create. + */ + public setMassProperties( + mass: number, + centerOfMass: Vector, + principalAngularInertia: number, + ): ColliderDesc { + this.massPropsMode = MassPropsMode.MassProps; + this.mass = mass; + VectorOps.copy(this.centerOfMass, centerOfMass); + this.principalAngularInertia = principalAngularInertia; + return this; + } + + /** + * Sets the restitution coefficient of the collider to be created. + * + * @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior + * while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the + * constraints solver). + */ + public setRestitution(restitution: number): ColliderDesc { + 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. + */ + public setFriction(friction: number): ColliderDesc { + 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. + */ + public setFrictionCombineRule(rule: CoefficientCombineRule): ColliderDesc { + 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. + */ + public setRestitutionCombineRule(rule: CoefficientCombineRule): ColliderDesc { + 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. + */ + public setCollisionGroups(groups: InteractionGroups): ColliderDesc { + 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 being built. + */ + public setSolverGroups(groups: InteractionGroups): ColliderDesc { + this.solverGroups = groups; + return this; + } + + /** + * Set the physics hooks active for this collider. + * + * Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider. + * + * @param activeHooks - The hooks active for contact/intersection pairs involving this collider. + */ + public setActiveHooks(activeHooks: ActiveHooks): ColliderDesc { + this.activeHooks = activeHooks; + return this; + } + + /** + * Set the events active for this collider. + * + * Use this to enable contact and/or intersection event reporting for this collider. + * + * @param activeEvents - The events active for contact/intersection pairs involving this collider. + */ + public setActiveEvents(activeEvents: ActiveEvents): ColliderDesc { + this.activeEvents = activeEvents; + return this; + } + + /** + * Set the collision types active for this collider. + * + * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider. + */ + public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes): ColliderDesc { + this.activeCollisionTypes = activeCollisionTypes; + return this; + } + + /** + * Sets the total force magnitude beyond which a contact force event can be emitted. + * + * @param threshold - The force threshold to set. + */ + public setContactForceEventThreshold(threshold: number): ColliderDesc { + this.contactForceEventThreshold = threshold; + return this; + } +} diff --git a/src.ts/geometry/collider_set.ts b/packages/rapier-2d/src/geometry/collider_set.ts similarity index 83% rename from src.ts/geometry/collider_set.ts rename to packages/rapier-2d/src/geometry/collider_set.ts index 832b837a..9637741f 100644 --- a/src.ts/geometry/collider_set.ts +++ b/packages/rapier-2d/src/geometry/collider_set.ts @@ -1,9 +1,9 @@ -import {RawColliderSet} from "../raw"; import {Coarena} from "../coarena"; -import {RotationOps, VectorOps} from "../math"; -import {Collider, ColliderDesc, ColliderHandle} from "./collider"; import {ImpulseJointHandle, IslandManager, RigidBodyHandle} from "../dynamics"; import {RigidBodySet} from "../dynamics"; +import {RotationOps, VectorOps} from "../math"; +import {RawColliderSet} from "../raw"; +import {Collider, ColliderDesc, ColliderHandle} from "./collider"; /** * A set of rigid bodies that can be handled by a physics pipeline. @@ -22,12 +22,12 @@ export class ColliderSet { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; if (!!this.map) { this.map.clear(); } - this.map = undefined; + this.map = undefined!; } constructor(raw?: RawColliderSet) { @@ -44,21 +44,16 @@ export class ColliderSet { /** @internal */ public castClosure( f?: (collider: Collider) => Res, - ): (handle: ColliderHandle) => Res | undefined { + ): ((handle: ColliderHandle) => Res) | undefined { + if (!f) return undefined; return (handle) => { - if (!!f) { - return f(this.get(handle)); - } else { - return undefined; - } + return f(this.get(handle)!); }; } /** @internal */ public finalizeDeserialization(bodies: RigidBodySet) { - this.map.forEach((collider) => - collider.finalizeDeserialization(bodies), - ); + this.map.forEach((collider) => collider.finalizeDeserialization(bodies)); } /** @@ -85,15 +80,6 @@ export class ColliderSet { let rawRot = RotationOps.intoRaw(desc.rotation); let rawCom = VectorOps.intoRaw(desc.centerOfMass); - // #if DIM3 - let rawPrincipalInertia = VectorOps.intoRaw( - desc.principalAngularInertia, - ); - let rawInertiaFrame = RotationOps.intoRaw( - desc.angularInertiaLocalFrame, - ); - // #endif - let handle = this.raw.createCollider( desc.enabled, rawShape, @@ -102,13 +88,7 @@ export class ColliderSet { desc.massPropsMode, desc.mass, rawCom, - // #if DIM2 desc.principalAngularInertia, - // #endif - // #if DIM3 - rawPrincipalInertia, - rawInertiaFrame, - // #endif desc.density, desc.friction, desc.restitution, @@ -132,14 +112,9 @@ export class ColliderSet { rawRot.free(); rawCom.free(); - // #if DIM3 - rawPrincipalInertia.free(); - rawInertiaFrame.free(); - // #endif - - let parent = hasParent ? bodies.get(parentHandle) : null; - let collider = new Collider(this, handle, parent, desc.shape); - this.map.set(handle, collider); + let parent = hasParent ? bodies.get(parentHandle!) : null; + let collider = new Collider(this, handle!, parent, desc.shape); + this.map.set(handle!, collider); return collider; } diff --git a/src.ts/geometry/contact.ts b/packages/rapier-2d/src/geometry/contact.ts similarity index 74% rename from src.ts/geometry/contact.ts rename to packages/rapier-2d/src/geometry/contact.ts index 802f57f4..99b345fb 100644 --- a/src.ts/geometry/contact.ts +++ b/packages/rapier-2d/src/geometry/contact.ts @@ -32,13 +32,7 @@ export class ShapeContact { */ normal2: Vector; - constructor( - dist: number, - point1: Vector, - point2: Vector, - normal1: Vector, - normal2: Vector, - ) { + constructor(dist: number, point1: Vector, point2: Vector, normal1: Vector, normal2: Vector) { this.distance = dist; this.point1 = point1; this.point2 = point2; @@ -46,15 +40,15 @@ export class ShapeContact { this.normal2 = normal2; } - public static fromRaw(raw: RawShapeContact): ShapeContact { + public static fromRaw(raw: RawShapeContact): ShapeContact | null { if (!raw) return null; const result = new ShapeContact( raw.distance(), - VectorOps.fromRaw(raw.point1()), - VectorOps.fromRaw(raw.point2()), - VectorOps.fromRaw(raw.normal1()), - VectorOps.fromRaw(raw.normal2()), + VectorOps.fromRaw(raw.point1())!, + VectorOps.fromRaw(raw.point2())!, + VectorOps.fromRaw(raw.normal1())!, + VectorOps.fromRaw(raw.normal2())!, ); raw.free(); return result; diff --git a/packages/rapier-2d/src/geometry/feature.ts b/packages/rapier-2d/src/geometry/feature.ts new file mode 100644 index 00000000..99bdda85 --- /dev/null +++ b/packages/rapier-2d/src/geometry/feature.ts @@ -0,0 +1,5 @@ +export enum FeatureType { + Vertex, + Face, + Unknown, +} diff --git a/src.ts/geometry/index.ts b/packages/rapier-2d/src/geometry/index.ts similarity index 100% rename from src.ts/geometry/index.ts rename to packages/rapier-2d/src/geometry/index.ts diff --git a/src.ts/geometry/interaction_groups.ts b/packages/rapier-2d/src/geometry/interaction_groups.ts similarity index 100% rename from src.ts/geometry/interaction_groups.ts rename to packages/rapier-2d/src/geometry/interaction_groups.ts diff --git a/packages/rapier-2d/src/geometry/narrow_phase.ts b/packages/rapier-2d/src/geometry/narrow_phase.ts new file mode 100644 index 00000000..5e70d338 --- /dev/null +++ b/packages/rapier-2d/src/geometry/narrow_phase.ts @@ -0,0 +1,185 @@ +import {Vector, VectorOps} from "../math"; +import {RawNarrowPhase, RawContactManifold} from "../raw"; +import {ColliderHandle} from "./collider"; + +/** + * The narrow-phase used for precise collision-detection. + * + * To avoid leaking WASM resources, this MUST be freed manually with `narrowPhase.free()` + * once you are done using it. + */ +export class NarrowPhase { + raw: RawNarrowPhase; + tempManifold: TempContactManifold; + + /** + * Release the WASM memory occupied by this narrow-phase. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + constructor(raw?: RawNarrowPhase) { + this.raw = raw || new RawNarrowPhase(); + this.tempManifold = new TempContactManifold(null!); + } + + /** + * Enumerates all the colliders potentially in contact with the given collider. + * + * @param collider1 - The second collider involved in the contact. + * @param f - Closure that will be called on each collider that is in contact with `collider1`. + */ + public contactPairsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void) { + this.raw.contact_pairs_with(collider1, f); + } + + /** + * Enumerates all the colliders intersecting the given colliders, assuming one of them + * is a sensor. + */ + public intersectionPairsWith( + collider1: ColliderHandle, + f: (collider2: ColliderHandle) => void, + ) { + this.raw.intersection_pairs_with(collider1, f); + } + + /** + * Iterates through all the contact manifolds between the given pair of colliders. + * + * @param collider1 - The first collider involved in the contact. + * @param collider2 - The second collider involved in the contact. + * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument + * passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1` + * actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`. + */ + public contactPair( + collider1: ColliderHandle, + collider2: ColliderHandle, + f: (manifold: TempContactManifold, flipped: boolean) => void, + ) { + const rawPair = this.raw.contact_pair(collider1, collider2); + + if (!!rawPair) { + const flipped = rawPair.collider1() != collider1; + + let i; + for (i = 0; i < rawPair.numContactManifolds(); ++i) { + this.tempManifold.raw = rawPair.contactManifold(i)!; + if (!!this.tempManifold.raw) { + f(this.tempManifold, flipped); + } + + // SAFETY: The RawContactManifold stores a raw pointer that will be invalidated + // at the next timestep. So we must be sure to free the pair here + // to avoid unsoundness in the Rust code. + this.tempManifold.free(); + } + rawPair.free(); + } + } + + /** + * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor. + * @param collider1 − The first collider involved in the intersection. + * @param collider2 − The second collider involved in the intersection. + */ + public intersectionPair(collider1: ColliderHandle, collider2: ColliderHandle): boolean { + return this.raw.intersection_pair(collider1, collider2); + } +} + +export class TempContactManifold { + raw: RawContactManifold; + + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + constructor(raw: RawContactManifold) { + this.raw = raw; + } + + public normal(target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.normal()!, target)!; + } + + public localNormal1(target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.local_n1()!, target)!; + } + + public localNormal2(target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.local_n2()!, target)!; + } + + public subshape1(): number { + return this.raw.subshape1(); + } + + public subshape2(): number { + return this.raw.subshape2(); + } + + public numContacts(): number { + return this.raw.num_contacts(); + } + + public localContactPoint1(i: number, target?: Vector): Vector | null { + return VectorOps.fromRaw(this.raw.contact_local_p1(i)!, target); + } + + public localContactPoint2(i: number, target?: Vector): Vector | null { + return VectorOps.fromRaw(this.raw.contact_local_p2(i)!, target); + } + + public contactDist(i: number): number { + return this.raw.contact_dist(i); + } + + public contactFid1(i: number): number { + return this.raw.contact_fid1(i); + } + + public contactFid2(i: number): number { + return this.raw.contact_fid2(i); + } + + public contactImpulse(i: number): number { + return this.raw.contact_impulse(i); + } + + public contactTangentImpulse(i: number): number { + return this.raw.contact_tangent_impulse(i); + } + + public numSolverContacts(): number { + return this.raw.num_solver_contacts(); + } + + public solverContactPoint(i: number, target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.solver_contact_point(i)!, target)!; + } + + public solverContactDist(i: number): number { + return this.raw.solver_contact_dist(i); + } + + public solverContactFriction(i: number): number { + return this.raw.solver_contact_friction(i); + } + + public solverContactRestitution(i: number): number { + return this.raw.solver_contact_restitution(i); + } + + public solverContactTangentVelocity(i: number, target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.solver_contact_tangent_velocity(i)!, target)!; + } +} diff --git a/src.ts/geometry/point.ts b/packages/rapier-2d/src/geometry/point.ts similarity index 83% rename from src.ts/geometry/point.ts rename to packages/rapier-2d/src/geometry/point.ts index d272b7e8..b784eeda 100644 --- a/src.ts/geometry/point.ts +++ b/packages/rapier-2d/src/geometry/point.ts @@ -1,12 +1,8 @@ -import {Collider, ColliderHandle} from "./collider"; import {Vector, VectorOps} from "../math"; -import { - RawFeatureType, - RawPointColliderProjection, - RawPointProjection, -} from "../raw"; -import {FeatureType} from "./feature"; +import {RawPointColliderProjection, RawPointProjection} from "../raw"; +import {Collider} from "./collider"; import {ColliderSet} from "./collider_set"; +import {FeatureType} from "./feature"; /** * The projection of a point on a collider. @@ -26,13 +22,10 @@ export class PointProjection { this.isInside = isInside; } - public static fromRaw(raw: RawPointProjection): PointProjection { + public static fromRaw(raw: RawPointProjection): PointProjection | null { if (!raw) return null; - const result = new PointProjection( - VectorOps.fromRaw(raw.point()), - raw.isInside(), - ); + const result = new PointProjection(VectorOps.fromRaw(raw.point())!, raw.isInside()); raw.free(); return result; } @@ -82,12 +75,12 @@ export class PointColliderProjection { public static fromRaw( colliderSet: ColliderSet, raw: RawPointColliderProjection, - ): PointColliderProjection { + ): PointColliderProjection | null { if (!raw) return null; const result = new PointColliderProjection( - colliderSet.get(raw.colliderHandle()), - VectorOps.fromRaw(raw.point()), + colliderSet.get(raw.colliderHandle())!, + VectorOps.fromRaw(raw.point())!, raw.isInside(), raw.featureType() as number as FeatureType, raw.featureId(), diff --git a/packages/rapier-2d/src/geometry/ray.ts b/packages/rapier-2d/src/geometry/ray.ts new file mode 100644 index 00000000..4b898966 --- /dev/null +++ b/packages/rapier-2d/src/geometry/ray.ts @@ -0,0 +1,181 @@ +import {Vector, VectorOps} from "../math"; +import {RawRayColliderIntersection, RawRayColliderHit, RawRayIntersection} from "../raw"; +import {Collider} from "./collider"; +import {ColliderSet} from "./collider_set"; +import {FeatureType} from "./feature"; + +/** + * A ray. This is a directed half-line. + */ +export class Ray { + /** + * The starting point of the ray. + */ + public origin: Vector; + /** + * The direction of propagation of the ray. + */ + public dir: Vector; + + /** + * Builds a ray from its origin and direction. + * + * @param origin - The ray's starting point. + * @param dir - The ray's direction of propagation. + */ + constructor(origin: Vector, dir: Vector) { + this.origin = origin; + this.dir = dir; + } + + public pointAt(t: number): Vector { + return { + x: this.origin.x + this.dir.x * t, + y: this.origin.y + this.dir.y * t, + }; + } +} + +/** + * The intersection between a ray and a collider. + */ +export class RayIntersection { + /** + * The time-of-impact of the ray with the collider. + * + * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`. + */ + timeOfImpact: number; + /** + * The normal of the collider at the hit point. + */ + normal: Vector; + + /** + * The type of the geometric feature the point was projected on. + */ + featureType = FeatureType.Unknown; + + /** + * The id of the geometric feature the point was projected on. + */ + featureId: number | undefined = undefined; + + constructor( + timeOfImpact: number, + normal: Vector, + featureType?: FeatureType, + featureId?: number, + ) { + this.timeOfImpact = timeOfImpact; + this.normal = normal; + if (featureId !== undefined) this.featureId = featureId; + if (featureType !== undefined) this.featureType = featureType; + } + + public static fromRaw(raw: RawRayIntersection): RayIntersection | null { + if (!raw) return null; + + const result = new RayIntersection( + raw.time_of_impact(), + VectorOps.fromRaw(raw.normal())!, + raw.featureType() as number as FeatureType, + raw.featureId(), + ); + raw.free(); + return result; + } +} + +/** + * The intersection between a ray and a collider (includes the collider handle). + */ +export class RayColliderIntersection { + /** + * The collider hit by the ray. + */ + collider: Collider; + /** + * The time-of-impact of the ray with the collider. + * + * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`. + */ + timeOfImpact: number; + /** + * The normal of the collider at the hit point. + */ + normal: Vector; + + /** + * The type of the geometric feature the point was projected on. + */ + featureType = FeatureType.Unknown; + + /** + * The id of the geometric feature the point was projected on. + */ + featureId: number | undefined = undefined; + + constructor( + collider: Collider, + timeOfImpact: number, + normal: Vector, + featureType?: FeatureType, + featureId?: number, + ) { + this.collider = collider; + this.timeOfImpact = timeOfImpact; + this.normal = normal; + if (featureId !== undefined) this.featureId = featureId; + if (featureType !== undefined) this.featureType = featureType; + } + + public static fromRaw( + colliderSet: ColliderSet, + raw: RawRayColliderIntersection, + ): RayColliderIntersection | null { + if (!raw) return null; + + const result = new RayColliderIntersection( + colliderSet.get(raw.colliderHandle())!, + raw.time_of_impact(), + VectorOps.fromRaw(raw.normal())!, + raw.featureType() as number as FeatureType, + raw.featureId(), + ); + raw.free(); + return result; + } +} + +/** + * The time of impact between a ray and a collider. + */ +export class RayColliderHit { + /** + * The handle of the collider hit by the ray. + */ + collider: Collider; + /** + * The time-of-impact of the ray with the collider. + * + * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`. + */ + timeOfImpact: number; + + constructor(collider: Collider, timeOfImpact: number) { + this.collider = collider; + this.timeOfImpact = timeOfImpact; + } + + public static fromRaw(colliderSet: ColliderSet, raw: RawRayColliderHit): RayColliderHit | null { + if (!raw) return null; + + const result = new RayColliderHit( + colliderSet.get(raw.colliderHandle())!, + raw.timeOfImpact(), + ); + raw.free(); + return result; + } +} diff --git a/packages/rapier-2d/src/geometry/shape.ts b/packages/rapier-2d/src/geometry/shape.ts new file mode 100644 index 00000000..c8c045a1 --- /dev/null +++ b/packages/rapier-2d/src/geometry/shape.ts @@ -0,0 +1,980 @@ +import {Vector, VectorOps, Rotation, RotationOps} from "../math"; +import {RawColliderSet, RawShape, RawShapeType} from "../raw"; +import {ColliderHandle} from "./collider"; +import {ShapeContact} from "./contact"; +import {PointProjection} from "./point"; +import {Ray, RayIntersection} from "./ray"; +import {ShapeCastHit} from "./toi"; + +export abstract class Shape { + public abstract intoRaw(): RawShape; + + /** + * The concrete type of this shape. + */ + public abstract get type(): ShapeType; + + /** + * instant mode without cache + */ + public static fromRaw(rawSet: RawColliderSet, handle: ColliderHandle): Shape { + const rawType = rawSet.coShapeType(handle); + + let extents: Vector; + let borderRadius: number; + let vs: Float32Array; + let indices: Uint32Array; + let halfHeight: number; + let radius: number; + let normal: Vector; + + switch (rawType) { + case RawShapeType.Ball: + return new Ball(rawSet.coRadius(handle)!); + case RawShapeType.Cuboid: + extents = rawSet.coHalfExtents(handle)!; + return new Cuboid(extents.x, extents.y); + + case RawShapeType.RoundCuboid: + extents = rawSet.coHalfExtents(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; + + return new RoundCuboid(extents.x, extents.y, borderRadius); + + case RawShapeType.Capsule: + halfHeight = rawSet.coHalfHeight(handle)!; + radius = rawSet.coRadius(handle)!; + return new Capsule(halfHeight, radius); + case RawShapeType.Segment: + vs = rawSet.coVertices(handle)!; + + return new Segment(VectorOps.new(vs[0], vs[1]), VectorOps.new(vs[2], vs[3])); + + case RawShapeType.Polyline: + vs = rawSet.coVertices(handle)!; + indices = rawSet.coIndices(handle)!; + return new Polyline(vs, indices); + case RawShapeType.Triangle: + vs = rawSet.coVertices(handle)!; + + return new Triangle( + VectorOps.new(vs[0], vs[1]), + VectorOps.new(vs[2], vs[3]), + VectorOps.new(vs[4], vs[5]), + ); + + case RawShapeType.RoundTriangle: + vs = rawSet.coVertices(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; + + return new RoundTriangle( + VectorOps.new(vs[0], vs[1]), + VectorOps.new(vs[2], vs[3]), + VectorOps.new(vs[4], vs[5]), + borderRadius, + ); + + case RawShapeType.HalfSpace: + normal = VectorOps.fromRaw(rawSet.coHalfspaceNormal(handle)!)!; + return new HalfSpace(normal); + + case RawShapeType.Voxels: + const vox_data = rawSet.coVoxelData(handle)!; + const vox_size = rawSet.coVoxelSize(handle)!; + return new Voxels(vox_data, vox_size); + + case RawShapeType.TriMesh: + vs = rawSet.coVertices(handle)!; + indices = rawSet.coIndices(handle)!; + const tri_flags = rawSet.coTriMeshFlags(handle)!; + return new TriMesh(vs, indices, tri_flags); + + case RawShapeType.HeightField: + const scale = rawSet.coHeightfieldScale(handle)!; + const heights = rawSet.coHeightfieldHeights(handle)!; + + return new Heightfield(heights, scale); + + case RawShapeType.ConvexPolygon: + vs = rawSet.coVertices(handle)!; + return new ConvexPolygon(vs, false); + case RawShapeType.RoundConvexPolygon: + vs = rawSet.coVertices(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; + return new RoundConvexPolygon(vs, borderRadius, false); + + default: + throw new Error("unknown shape type: " + rawType); + } + } + + /** + * Computes the time of impact between two moving shapes. + * @param shapePos1 - The initial position of this sahpe. + * @param shapeRot1 - The rotation of this shape. + * @param shapeVel1 - The velocity of this shape. + * @param shape2 - The second moving shape. + * @param shapePos2 - The initial position of the second shape. + * @param shapeRot2 - The rotation of the second shape. + * @param shapeVel2 - The 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 when the impact can happen. + * @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. + * @returns If the two moving shapes collider at some point along their trajectories, this returns the + * time at which the two shape collider as well as the contact information during the impact. Returns + * `null`if the two shapes never collide along their paths. + */ + public castShape( + shapePos1: Vector, + shapeRot1: Rotation, + shapeVel1: Vector, + shape2: Shape, + shapePos2: Vector, + shapeRot2: Rotation, + shapeVel2: Vector, + targetDistance: number, + maxToi: number, + stopAtPenetration: boolean, + ): ShapeCastHit | null { + let rawPos1 = VectorOps.intoRaw(shapePos1); + let rawRot1 = RotationOps.intoRaw(shapeRot1); + let rawVel1 = VectorOps.intoRaw(shapeVel1); + let rawPos2 = VectorOps.intoRaw(shapePos2); + let rawRot2 = RotationOps.intoRaw(shapeRot2); + let rawVel2 = VectorOps.intoRaw(shapeVel2); + + let rawShape1 = this.intoRaw(); + let rawShape2 = shape2.intoRaw(); + + let result = ShapeCastHit.fromRaw( + null!, + rawShape1.castShape( + rawPos1, + rawRot1, + rawVel1, + rawShape2, + rawPos2, + rawRot2, + rawVel2, + targetDistance, + maxToi, + stopAtPenetration, + )!, + ); + + rawPos1.free(); + rawRot1.free(); + rawVel1.free(); + rawPos2.free(); + rawRot2.free(); + rawVel2.free(); + + rawShape1.free(); + rawShape2.free(); + + return result; + } + + /** + * Tests if this shape intersects another shape. + * + * @param shapePos1 - The position of this shape. + * @param shapeRot1 - The rotation of this shape. + * @param shape2 - The second shape to test. + * @param shapePos2 - The position of the second shape. + * @param shapeRot2 - The rotation of the second shape. + * @returns `true` if the two shapes intersect, `false` if they don’t. + */ + public intersectsShape( + shapePos1: Vector, + shapeRot1: Rotation, + shape2: Shape, + shapePos2: Vector, + shapeRot2: Rotation, + ): boolean { + let rawPos1 = VectorOps.intoRaw(shapePos1); + let rawRot1 = RotationOps.intoRaw(shapeRot1); + let rawPos2 = VectorOps.intoRaw(shapePos2); + let rawRot2 = RotationOps.intoRaw(shapeRot2); + + let rawShape1 = this.intoRaw(); + let rawShape2 = shape2.intoRaw(); + + let result = rawShape1.intersectsShape(rawPos1, rawRot1, rawShape2, rawPos2, rawRot2); + + rawPos1.free(); + rawRot1.free(); + rawPos2.free(); + rawRot2.free(); + + rawShape1.free(); + rawShape2.free(); + + return result; + } + + /** + * Computes one pair of contact points between two shapes. + * + * @param shapePos1 - The initial position of this sahpe. + * @param shapeRot1 - The rotation of this shape. + * @param shape2 - The second shape. + * @param shapePos2 - The initial position of the second shape. + * @param shapeRot2 - 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( + shapePos1: Vector, + shapeRot1: Rotation, + shape2: Shape, + shapePos2: Vector, + shapeRot2: Rotation, + prediction: number, + ): ShapeContact | null { + let rawPos1 = VectorOps.intoRaw(shapePos1); + let rawRot1 = RotationOps.intoRaw(shapeRot1); + let rawPos2 = VectorOps.intoRaw(shapePos2); + let rawRot2 = RotationOps.intoRaw(shapeRot2); + + let rawShape1 = this.intoRaw(); + let rawShape2 = shape2.intoRaw(); + + let result = ShapeContact.fromRaw( + rawShape1.contactShape(rawPos1, rawRot1, rawShape2, rawPos2, rawRot2, prediction)!, + ); + + rawPos1.free(); + rawRot1.free(); + rawPos2.free(); + rawRot2.free(); + + rawShape1.free(); + rawShape2.free(); + + return result; + } + + containsPoint(shapePos: Vector, shapeRot: Rotation, point: Vector): boolean { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawPoint = VectorOps.intoRaw(point); + let rawShape = this.intoRaw(); + + let result = rawShape.containsPoint(rawPos, rawRot, rawPoint); + + rawPos.free(); + rawRot.free(); + rawPoint.free(); + rawShape.free(); + + return result; + } + + projectPoint( + shapePos: Vector, + shapeRot: Rotation, + point: Vector, + solid: boolean, + ): PointProjection { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawPoint = VectorOps.intoRaw(point); + let rawShape = this.intoRaw(); + + let result = PointProjection.fromRaw( + rawShape.projectPoint(rawPos, rawRot, rawPoint, solid)!, + )!; + + rawPos.free(); + rawRot.free(); + rawPoint.free(); + rawShape.free(); + + return result; + } + + intersectsRay(ray: Ray, shapePos: Vector, shapeRot: Rotation, maxToi: number): boolean { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawRayOrig = VectorOps.intoRaw(ray.origin); + let rawRayDir = VectorOps.intoRaw(ray.dir); + let rawShape = this.intoRaw(); + + let result = rawShape.intersectsRay(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi); + + rawPos.free(); + rawRot.free(); + rawRayOrig.free(); + rawRayDir.free(); + rawShape.free(); + + return result; + } + + castRay( + ray: Ray, + shapePos: Vector, + shapeRot: Rotation, + maxToi: number, + solid: boolean, + ): number { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawRayOrig = VectorOps.intoRaw(ray.origin); + let rawRayDir = VectorOps.intoRaw(ray.dir); + let rawShape = this.intoRaw(); + + let result = rawShape.castRay(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi, solid); + + rawPos.free(); + rawRot.free(); + rawRayOrig.free(); + rawRayDir.free(); + rawShape.free(); + + return result; + } + + castRayAndGetNormal( + ray: Ray, + shapePos: Vector, + shapeRot: Rotation, + maxToi: number, + solid: boolean, + ): RayIntersection { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawRayOrig = VectorOps.intoRaw(ray.origin); + let rawRayDir = VectorOps.intoRaw(ray.dir); + let rawShape = this.intoRaw(); + + let result = RayIntersection.fromRaw( + rawShape.castRayAndGetNormal(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi, solid)!, + )!; + + rawPos.free(); + rawRot.free(); + rawRayOrig.free(); + rawRayDir.free(); + rawShape.free(); + + return result; + } +} + +/** + * An enumeration representing the type of a shape. + */ +export enum ShapeType { + Ball = 0, + Cuboid = 1, + Capsule = 2, + Segment = 3, + Polyline = 4, + Triangle = 5, + TriMesh = 6, + HeightField = 7, + // Compound = 8, + ConvexPolygon = 9, + RoundCuboid = 10, + RoundTriangle = 11, + RoundConvexPolygon = 12, + HalfSpace = 13, + Voxels = 14, +} + +// NOTE: this **must** match the TriMeshFlags on the rust side. +/** + * Flags controlling the behavior of the triangle mesh creation and of some + * operations involving triangle meshes. + */ +export enum TriMeshFlags { + // NOTE: these two flags are not really useful in JS. + // + // /** + // * If set, the half-edge topology of the trimesh will be computed if possible. + // */ + // HALF_EDGE_TOPOLOGY = 0b0000_0001, + // /** If set, the half-edge topology and connected components of the trimesh will be computed if possible. + // * + // * Because of the way it is currently implemented, connected components can only be computed on + // * a mesh where the half-edge topology computation succeeds. It will no longer be the case in the + // * future once we decouple the computations. + // */ + // CONNECTED_COMPONENTS = 0b0000_0010, + /** + * If set, any triangle that results in a failing half-hedge topology computation will be deleted. + */ + DELETE_BAD_TOPOLOGY_TRIANGLES = 0b0000_0100, + /** + * If set, the trimesh will be assumed to be oriented (with outward normals). + * + * The pseudo-normals of its vertices and edges will be computed. + */ + ORIENTED = 0b0000_1000, + /** + * If set, the duplicate vertices of the trimesh will be merged. + * + * Two vertices with the exact same coordinates will share the same entry on the + * vertex buffer and the index buffer is adjusted accordingly. + */ + MERGE_DUPLICATE_VERTICES = 0b0001_0000, + /** + * If set, the triangles sharing two vertices with identical index values will be removed. + * + * Because of the way it is currently implemented, this methods implies that duplicate + * vertices will be merged. It will no longer be the case in the future once we decouple + * the computations. + */ + DELETE_DEGENERATE_TRIANGLES = 0b0010_0000, + /** + * If set, two triangles sharing three vertices with identical index values (in any order) + * will be removed. + * + * Because of the way it is currently implemented, this methods implies that duplicate + * vertices will be merged. It will no longer be the case in the future once we decouple + * the computations. + */ + DELETE_DUPLICATE_TRIANGLES = 0b0100_0000, + /** + * If set, a special treatment will be applied to contact manifold calculation to eliminate + * or fix contacts normals that could lead to incorrect bumps in physics simulation + * (especially on flat surfaces). + * + * This is achieved by taking into account adjacent triangle normals when computing contact + * points for a given triangle. + * + * /!\ NOT SUPPORTED IN THE 2D VERSION OF RAPIER. + */ + FIX_INTERNAL_EDGES = 0b1000_0000 | TriMeshFlags.MERGE_DUPLICATE_VERTICES, +} + +/** + * A shape that is a sphere in 3D and a circle in 2D. + */ +export class Ball extends Shape { + readonly type = ShapeType.Ball; + + /** + * The balls radius. + */ + radius: number; + + /** + * Creates a new ball with the given radius. + * @param radius - The balls radius. + */ + constructor(radius: number) { + super(); + this.radius = radius; + } + + public intoRaw(): RawShape { + return RawShape.ball(this.radius); + } +} + +export class HalfSpace extends Shape { + readonly type = ShapeType.HalfSpace; + + /** + * The outward normal of the half-space. + */ + normal: Vector; + + /** + * Creates a new halfspace delimited by an infinite plane. + * + * @param normal - The outward normal of the plane. + */ + constructor(normal: Vector) { + super(); + this.normal = normal; + } + + public intoRaw(): RawShape { + let n = VectorOps.intoRaw(this.normal); + let result = RawShape.halfspace(n); + n.free(); + return result; + } +} + +/** + * A shape that is a box in 3D and a rectangle in 2D. + */ +export class Cuboid extends Shape { + readonly type = ShapeType.Cuboid; + + /** + * The half extent of the cuboid along each coordinate axis. + */ + halfExtents: Vector; + + /** + * Creates a new 2D rectangle. + * @param hx - The half width of the rectangle. + * @param hy - The helf height of the rectangle. + */ + constructor(hx: number, hy: number) { + super(); + this.halfExtents = VectorOps.new(hx, hy); + } + + public intoRaw(): RawShape { + return RawShape.cuboid(this.halfExtents.x, this.halfExtents.y); + } +} + +/** + * A shape that is a box in 3D and a rectangle in 2D, with round corners. + */ +export class RoundCuboid extends Shape { + readonly type = ShapeType.RoundCuboid; + + /** + * The half extent of the cuboid along each coordinate axis. + */ + halfExtents: Vector; + + /** + * The radius of the cuboid's round border. + */ + borderRadius: number; + + /** + * Creates a new 2D rectangle. + * @param hx - The half width of the rectangle. + * @param hy - The helf height of the rectangle. + * @param borderRadius - The radius of the borders of this cuboid. This will + * effectively increase the half-extents of the cuboid by this radius. + */ + constructor(hx: number, hy: number, borderRadius: number) { + super(); + this.halfExtents = VectorOps.new(hx, hy); + this.borderRadius = borderRadius; + } + + public intoRaw(): RawShape { + return RawShape.roundCuboid(this.halfExtents.x, this.halfExtents.y, this.borderRadius); + } +} + +/** + * A shape that is a capsule. + */ +export class Capsule extends Shape { + readonly type = ShapeType.Capsule; + + /** + * The radius of the capsule's basis. + */ + radius: number; + + /** + * The capsule's half height, along the `y` axis. + */ + halfHeight: number; + + /** + * Creates a new capsule with the given radius and half-height. + * @param halfHeight - The balls half-height along the `y` axis. + * @param radius - The balls radius. + */ + constructor(halfHeight: number, radius: number) { + super(); + this.halfHeight = halfHeight; + this.radius = radius; + } + + public intoRaw(): RawShape { + return RawShape.capsule(this.halfHeight, this.radius); + } +} + +/** + * A shape that is a segment. + */ +export class Segment extends Shape { + readonly type = ShapeType.Segment; + + /** + * The first point of the segment. + */ + a: Vector; + + /** + * The second point of the segment. + */ + b: Vector; + + /** + * Creates a new segment shape. + * @param a - The first point of the segment. + * @param b - The second point of the segment. + */ + constructor(a: Vector, b: Vector) { + super(); + this.a = a; + this.b = b; + } + + public intoRaw(): RawShape { + let ra = VectorOps.intoRaw(this.a); + let rb = VectorOps.intoRaw(this.b); + let result = RawShape.segment(ra, rb); + ra.free(); + rb.free(); + return result; + } +} + +/** + * A shape that is a segment. + */ +export class Triangle extends Shape { + readonly type = ShapeType.Triangle; + + /** + * The first point of the triangle. + */ + a: Vector; + + /** + * The second point of the triangle. + */ + b: Vector; + + /** + * The second point of the triangle. + */ + c: Vector; + + /** + * 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. + */ + constructor(a: Vector, b: Vector, c: Vector) { + super(); + this.a = a; + this.b = b; + this.c = c; + } + + public intoRaw(): RawShape { + let ra = VectorOps.intoRaw(this.a); + let rb = VectorOps.intoRaw(this.b); + let rc = VectorOps.intoRaw(this.c); + let result = RawShape.triangle(ra, rb, rc); + ra.free(); + rb.free(); + rc.free(); + return result; + } +} + +/** + * A shape that is a triangle with round borders and a non-zero thickness. + */ +export class RoundTriangle extends Shape { + readonly type = ShapeType.RoundTriangle; + + /** + * The first point of the triangle. + */ + a: Vector; + + /** + * The second point of the triangle. + */ + b: Vector; + + /** + * The second point of the triangle. + */ + c: Vector; + + /** + * The radius of the triangles's rounded edges and vertices. + * In 3D, this is also equal to half the thickness of the round triangle. + */ + borderRadius: number; + + /** + * 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. + */ + constructor(a: Vector, b: Vector, c: Vector, borderRadius: number) { + super(); + this.a = a; + this.b = b; + this.c = c; + this.borderRadius = borderRadius; + } + + public intoRaw(): RawShape { + let ra = VectorOps.intoRaw(this.a); + let rb = VectorOps.intoRaw(this.b); + let rc = VectorOps.intoRaw(this.c); + let result = RawShape.roundTriangle(ra, rb, rc, this.borderRadius); + ra.free(); + rb.free(); + rc.free(); + return result; + } +} + +/** + * A shape that is a triangle mesh. + */ +export class Polyline extends Shape { + readonly type = ShapeType.Polyline; + + /** + * The vertices of the polyline. + */ + vertices: Float32Array; + + /** + * The indices of the segments. + */ + indices: Uint32Array; + + /** + * Creates a new polyline shape. + * + * @param vertices - The coordinates of the polyline's vertices. + * @param indices - The indices of the polyline's segments. If this is `null` or not provided, then + * the vertices are assumed to form a line strip. + */ + constructor(vertices: Float32Array, indices?: Uint32Array) { + super(); + this.vertices = vertices; + this.indices = indices ?? new Uint32Array(0); + } + + public intoRaw(): RawShape { + return RawShape.polyline(this.vertices, this.indices); + } +} + +/** + * A shape made of voxels. + */ +export class Voxels extends Shape { + readonly type = ShapeType.Voxels; + + /** + * The points or grid coordinates used to initialize the voxels. + */ + data: Float32Array | Int32Array; + + /** + * The dimensions of each voxel. + */ + voxelSize: Vector; + + /** + * Creates a new 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. + */ + constructor(data: Float32Array | Int32Array, voxelSize: Vector) { + super(); + this.data = data; + this.voxelSize = voxelSize; + } + + public intoRaw(): RawShape { + let voxelSize = VectorOps.intoRaw(this.voxelSize); + + let result; + if (this.data instanceof Int32Array) { + result = RawShape.voxels(voxelSize, this.data); + } else { + result = RawShape.voxelsFromPoints(voxelSize, this.data); + } + + voxelSize.free(); + return result; + } +} + +/** + * A shape that is a triangle mesh. + */ +export class TriMesh extends Shape { + readonly type = ShapeType.TriMesh; + + /** + * The vertices of the triangle mesh. + */ + vertices: Float32Array; + + /** + * The indices of the triangles. + */ + indices: Uint32Array; + + /** + * The triangle mesh flags. + */ + flags!: TriMeshFlags; + + /** + * Creates a new triangle mesh shape. + * + * @param vertices - The coordinates of the triangle mesh's vertices. + * @param indices - The indices of the triangle mesh's triangles. + */ + constructor(vertices: Float32Array, indices: Uint32Array, flags?: TriMeshFlags) { + super(); + this.vertices = vertices; + this.indices = indices; + this.flags = flags!; + } + + public intoRaw(): RawShape { + return RawShape.trimesh(this.vertices, this.indices, this.flags)!; + } +} + +/** + * A shape that is a convex polygon. + */ +export class ConvexPolygon extends Shape { + readonly type = ShapeType.ConvexPolygon; + + /** + * The vertices of the convex polygon. + */ + vertices: Float32Array; + + /** + * Do we want to assume the vertices already form a convex hull? + */ + skipConvexHullComputation: boolean; + + /** + * Creates a new convex polygon shape. + * + * @param vertices - The coordinates of the convex polygon's vertices. + * @param skipConvexHullComputation - If set to `true`, the input points will + * be assumed to form a convex polyline and no convex-hull computation will + * be done automatically. + */ + constructor(vertices: Float32Array, skipConvexHullComputation: boolean) { + super(); + this.vertices = vertices; + this.skipConvexHullComputation = !!skipConvexHullComputation; + } + + public intoRaw(): RawShape { + if (this.skipConvexHullComputation) { + return RawShape.convexPolyline(this.vertices)!; + } else { + return RawShape.convexHull(this.vertices)!; + } + } +} + +/** + * A shape that is a convex polygon. + */ +export class RoundConvexPolygon extends Shape { + readonly type = ShapeType.RoundConvexPolygon; + + /** + * The vertices of the convex polygon. + */ + vertices: Float32Array; + + /** + * Do we want to assume the vertices already form a convex hull? + */ + skipConvexHullComputation: boolean; + + /** + * The radius of the convex polygon's rounded edges and vertices. + */ + borderRadius: number; + + /** + * Creates a new convex polygon shape. + * + * @param vertices - The coordinates of the convex polygon's vertices. + * @param borderRadius - The radius of the borders of this convex polygon. + * @param skipConvexHullComputation - If set to `true`, the input points will + * be assumed to form a convex polyline and no convex-hull computation will + * be done automatically. + */ + constructor(vertices: Float32Array, borderRadius: number, skipConvexHullComputation: boolean) { + super(); + this.vertices = vertices; + this.borderRadius = borderRadius; + this.skipConvexHullComputation = !!skipConvexHullComputation; + } + + public intoRaw(): RawShape { + if (this.skipConvexHullComputation) { + return RawShape.roundConvexPolyline(this.vertices, this.borderRadius)!; + } else { + return RawShape.roundConvexHull(this.vertices, this.borderRadius)!; + } + } +} + +/** + * A shape that is a heightfield. + */ +export class Heightfield extends Shape { + readonly type = ShapeType.HeightField; + + /** + * The heights of the heightfield, along its local `y` axis. + */ + heights: Float32Array; + + /** + * The heightfield's length along its local `x` axis. + */ + scale: Vector; + + /** + * Creates a new heightfield shape. + * + * @param heights - The heights of the heightfield, along its local `y` axis. + * @param scale - The scale factor applied to the heightfield. + */ + constructor(heights: Float32Array, scale: Vector) { + super(); + this.heights = heights; + this.scale = scale; + } + + public intoRaw(): RawShape { + let rawScale = VectorOps.intoRaw(this.scale); + let rawShape = RawShape.heightfield(this.heights, rawScale); + rawScale.free(); + return rawShape; + } +} diff --git a/src.ts/geometry/toi.ts b/packages/rapier-2d/src/geometry/toi.ts similarity index 80% rename from src.ts/geometry/toi.ts rename to packages/rapier-2d/src/geometry/toi.ts index ade13f17..890362de 100644 --- a/src.ts/geometry/toi.ts +++ b/packages/rapier-2d/src/geometry/toi.ts @@ -1,6 +1,6 @@ -import {Collider} from "./collider"; import {Vector, VectorOps} from "../math"; import {RawShapeCastHit, RawColliderShapeCastHit} from "../raw"; +import {Collider} from "./collider"; import {ColliderSet} from "./collider_set"; /** @@ -47,17 +47,17 @@ export class ShapeCastHit { } public static fromRaw( - colliderSet: ColliderSet, + colliderSet: ColliderSet | null, raw: RawShapeCastHit, - ): ShapeCastHit { + ): ShapeCastHit | null { if (!raw) return null; const result = new ShapeCastHit( raw.time_of_impact(), - VectorOps.fromRaw(raw.witness1()), - VectorOps.fromRaw(raw.witness2()), - VectorOps.fromRaw(raw.normal1()), - VectorOps.fromRaw(raw.normal2()), + VectorOps.fromRaw(raw.witness1())!, + VectorOps.fromRaw(raw.witness2())!, + VectorOps.fromRaw(raw.normal1())!, + VectorOps.fromRaw(raw.normal2())!, ); raw.free(); return result; @@ -88,16 +88,16 @@ export class ColliderShapeCastHit extends ShapeCastHit { public static fromRaw( colliderSet: ColliderSet, raw: RawColliderShapeCastHit, - ): ColliderShapeCastHit { + ): ColliderShapeCastHit | null { if (!raw) return null; const result = new ColliderShapeCastHit( - colliderSet.get(raw.colliderHandle()), + colliderSet.get(raw.colliderHandle())!, raw.time_of_impact(), - VectorOps.fromRaw(raw.witness1()), - VectorOps.fromRaw(raw.witness2()), - VectorOps.fromRaw(raw.normal1()), - VectorOps.fromRaw(raw.normal2()), + VectorOps.fromRaw(raw.witness1())!, + VectorOps.fromRaw(raw.witness2())!, + VectorOps.fromRaw(raw.normal1())!, + VectorOps.fromRaw(raw.normal2())!, ); raw.free(); return result; diff --git a/packages/rapier-2d/src/init-compat-simd.ts b/packages/rapier-2d/src/init-compat-simd.ts new file mode 100644 index 00000000..c9f67e20 --- /dev/null +++ b/packages/rapier-2d/src/init-compat-simd.ts @@ -0,0 +1,13 @@ +import base64 from "base64-js"; +import {initSync} from "../wasm/release-simd/rapier_wasm_2d"; +// @ts-ignore - WASM file imported as base64 string by bundler +import wasmBase64 from "../wasm/release-simd/rapier_wasm_2d_bg.wasm"; + +/** + * Initializes RAPIER SIMD with embedded WASM (no separate file needed). + * Has to be called and awaited before using any library methods. + */ +export async function init() { + const wasmBytes = base64.toByteArray(wasmBase64 as unknown as string); + initSync(wasmBytes.buffer); +} diff --git a/packages/rapier-2d/src/init-compat.ts b/packages/rapier-2d/src/init-compat.ts new file mode 100644 index 00000000..d1a16d51 --- /dev/null +++ b/packages/rapier-2d/src/init-compat.ts @@ -0,0 +1,13 @@ +import base64 from "base64-js"; +import {initSync} from "../wasm/release/rapier_wasm_2d"; +// @ts-ignore - WASM file imported as base64 string by bundler +import wasmBase64 from "../wasm/release/rapier_wasm_2d_bg.wasm"; + +/** + * Initializes RAPIER with embedded WASM (no separate file needed). + * Has to be called and awaited before using any library methods. + */ +export async function init() { + const wasmBytes = base64.toByteArray(wasmBase64 as unknown as string); + initSync(wasmBytes.buffer); +} diff --git a/packages/rapier-2d/src/init-simd.ts b/packages/rapier-2d/src/init-simd.ts new file mode 100644 index 00000000..b7ab66fe --- /dev/null +++ b/packages/rapier-2d/src/init-simd.ts @@ -0,0 +1,12 @@ +import wasmInit, {InitInput} from "../wasm/release-simd/rapier_wasm_2d"; + +/** + * Initializes RAPIER SIMD using fetch (requires WASM file to be served). + * Has to be called and awaited before using any library methods. + */ +export async function init(input?: InitInput) { + if (!input) { + input = new URL("rapier_wasm_2d_simd_bg.wasm", import.meta.url); + } + await wasmInit(input); +} diff --git a/packages/rapier-2d/src/init.ts b/packages/rapier-2d/src/init.ts new file mode 100644 index 00000000..7e3c0276 --- /dev/null +++ b/packages/rapier-2d/src/init.ts @@ -0,0 +1,12 @@ +import wasmInit, {InitInput} from "../wasm/release/rapier_wasm_2d"; + +/** + * Initializes RAPIER using fetch (requires WASM file to be served). + * Has to be called and awaited before using any library methods. + */ +export async function init(input?: InitInput) { + if (!input) { + input = new URL("rapier_wasm_2d_bg.wasm", import.meta.url); + } + await wasmInit(input); +} diff --git a/packages/rapier-2d/src/math.ts b/packages/rapier-2d/src/math.ts new file mode 100644 index 00000000..1cad3f65 --- /dev/null +++ b/packages/rapier-2d/src/math.ts @@ -0,0 +1,83 @@ +import {RawVector, RawRotation} from "./raw"; + +export interface Vector { + x: number; + y: number; +} + +/** + * A 2D vector. + */ +export class Vector2 implements Vector { + x: number; + y: number; + + constructor(x: number, y: number) { + this.x = x; + this.y = y; + } +} + +export class VectorOps { + public static new(x: number, y: number): Vector { + return new Vector2(x, y); + } + + public static zeros(): Vector { + return VectorOps.new(0.0, 0.0); + } + + // FIXME: type ram: RawVector? + public static fromRaw(raw: RawVector, target?: Vector): Vector | null { + if (!raw) return null; + + target ??= VectorOps.zeros(); + target.x = raw.x; + target.y = raw.y; + raw.free(); + return target; + } + + public static intoRaw(v: Vector): RawVector { + return new RawVector(v.x, v.y); + } + + public static copy(out: Vector, input: Vector) { + out.x = input.x; + out.y = input.y; + } + + public static fromBuffer(buffer: Float32Array, target?: Vector): Vector { + target ??= VectorOps.zeros(); + target.x = buffer[0]; + target.y = buffer[1]; + return target; + } +} + +/** + * A rotation angle in radians. + */ +export type Rotation = number; + +export class RotationOps { + public static identity(): number { + return 0.0; + } + + public static fromRaw(raw: RawRotation): Rotation | null { + if (!raw) return null; + + let res = raw.angle; + raw.free(); + return res; + } + + public static intoRaw(angle: Rotation): RawRotation { + return RawRotation.fromAngle(angle); + } + + public static fromBuffer(buffer: Float32Array): Rotation { + return buffer[0]; + } +} diff --git a/src.ts/pipeline/debug_render_pipeline.ts b/packages/rapier-2d/src/pipeline/debug_render_pipeline.ts similarity index 80% rename from src.ts/pipeline/debug_render_pipeline.ts rename to packages/rapier-2d/src/pipeline/debug_render_pipeline.ts index bf0d7057..9b42dd67 100644 --- a/src.ts/pipeline/debug_render_pipeline.ts +++ b/packages/rapier-2d/src/pipeline/debug_render_pipeline.ts @@ -1,13 +1,6 @@ +import {ImpulseJointSet, MultibodyJointSet, RigidBodySet} from "../dynamics"; +import {Collider, ColliderSet, NarrowPhase} from "../geometry"; import {RawDebugRenderPipeline} from "../raw"; -import {Vector, VectorOps} from "../math"; -import { - IntegrationParameters, - IslandManager, - ImpulseJointSet, - MultibodyJointSet, - RigidBodySet, -} from "../dynamics"; -import {BroadPhase, Collider, ColliderSet, NarrowPhase} from "../geometry"; import {QueryFilterFlags} from "./query_pipeline"; /** @@ -42,8 +35,8 @@ export class DebugRenderBuffers { */ export class DebugRenderPipeline { raw: RawDebugRenderPipeline; - public vertices: Float32Array; - public colors: Float32Array; + public vertices!: Float32Array; + public colors!: Float32Array; /** * Release the WASM memory occupied by this serialization pipeline. @@ -52,9 +45,9 @@ export class DebugRenderPipeline { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; - this.vertices = undefined; - this.colors = undefined; + this.raw = undefined!; + this.vertices = undefined!; + this.colors = undefined!; } constructor(raw?: RawDebugRenderPipeline) { @@ -76,8 +69,8 @@ export class DebugRenderPipeline { impulse_joints.raw, multibody_joints.raw, narrow_phase.raw, - filterFlags, - colliders.castClosure(filterPredicate), + filterFlags ?? 0, + colliders.castClosure(filterPredicate) as unknown as Function, ); this.vertices = this.raw.vertices(); this.colors = this.raw.colors(); diff --git a/packages/rapier-2d/src/pipeline/event_queue.ts b/packages/rapier-2d/src/pipeline/event_queue.ts new file mode 100644 index 00000000..a08f73a3 --- /dev/null +++ b/packages/rapier-2d/src/pipeline/event_queue.ts @@ -0,0 +1,153 @@ +import {ColliderHandle} from "../geometry"; +import {Vector, VectorOps} from "../math"; +import {RawContactForceEvent, RawEventQueue} from "../raw"; + +/** + * Flags indicating what events are enabled for colliders. + */ +export enum ActiveEvents { + NONE = 0, + /** + * Enable collision events. + */ + COLLISION_EVENTS = 0b0001, + /** + * Enable contact force events. + */ + CONTACT_FORCE_EVENTS = 0b0010, +} + +/** + * Event occurring when the sum of the magnitudes of the + * contact forces between two colliders exceed a threshold. + * + * This object should **not** be stored anywhere. Its properties can only be + * read from within the closure given to `EventHandler.drainContactForceEvents`. + */ +export class TempContactForceEvent { + raw!: RawContactForceEvent; + + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + /** + * The first collider involved in the contact. + */ + public collider1(): ColliderHandle { + return this.raw.collider1(); + } + + /** + * The second collider involved in the contact. + */ + public collider2(): ColliderHandle { + return this.raw.collider2(); + } + + /** + * The sum of all the forces between the two colliders. + */ + public totalForce(): Vector { + return VectorOps.fromRaw(this.raw.total_force()!)!; + } + + /** + * The sum of the magnitudes of each force between the two colliders. + * + * Note that this is **not** the same as the magnitude of `self.total_force`. + * Here we are summing the magnitude of all the forces, instead of taking + * the magnitude of their sum. + */ + public totalForceMagnitude(): number { + return this.raw.total_force_magnitude(); + } + + /** + * The world-space (unit) direction of the force with strongest magnitude. + */ + public maxForceDirection(): Vector { + return VectorOps.fromRaw(this.raw.max_force_direction()!)!; + } + + /** + * The magnitude of the largest force at a contact point of this contact pair. + */ + public maxForceMagnitude(): number { + return this.raw.max_force_magnitude(); + } +} + +/** + * A structure responsible for collecting events generated + * by the physics engine. + * + * To avoid leaking WASM resources, this MUST be freed manually with `eventQueue.free()` + * once you are done using it. + */ +export class EventQueue { + raw!: RawEventQueue; + + /** + * Creates a new event collector. + * + * @param autoDrain -setting this to `true` is strongly recommended. If true, the collector will + * be automatically drained before each `world.step(collector)`. If false, the collector will + * keep all events in memory unless it is manually drained/cleared; this may lead to unbounded use of + * RAM if no drain is performed. + */ + constructor(autoDrain: boolean, raw?: RawEventQueue) { + this.raw = raw || new RawEventQueue(autoDrain); + } + + /** + * Release the WASM memory occupied by this event-queue. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + /** + * Applies the given javascript closure on each collision event of this collector, then clear + * the internal collision event buffer. + * + * @param f - JavaScript closure applied to each collision event. The + * closure must take three arguments: two integers representing the handles of the colliders + * involved in the collision, and a boolean indicating if the collision started (true) or stopped + * (false). + */ + public drainCollisionEvents( + f: (handle1: ColliderHandle, handle2: ColliderHandle, started: boolean) => void, + ) { + this.raw.drainCollisionEvents(f); + } + + /** + * Applies the given javascript closure on each contact force event of this collector, then clear + * the internal collision event buffer. + * + * @param f - JavaScript closure applied to each collision event. The + * closure must take one `TempContactForceEvent` argument. + */ + public drainContactForceEvents(f: (event: TempContactForceEvent) => void) { + let event = new TempContactForceEvent(); + this.raw.drainContactForceEvents((raw: RawContactForceEvent) => { + event.raw = raw; + f(event); + event.free(); + }); + } + + /** + * Removes all events contained by this collector + */ + public clear() { + this.raw.clear(); + } +} diff --git a/src.ts/pipeline/index.ts b/packages/rapier-2d/src/pipeline/index.ts similarity index 100% rename from src.ts/pipeline/index.ts rename to packages/rapier-2d/src/pipeline/index.ts diff --git a/src.ts/pipeline/physics_hooks.ts b/packages/rapier-2d/src/pipeline/physics_hooks.ts similarity index 100% rename from src.ts/pipeline/physics_hooks.ts rename to packages/rapier-2d/src/pipeline/physics_hooks.ts diff --git a/src.ts/pipeline/physics_pipeline.ts b/packages/rapier-2d/src/pipeline/physics_pipeline.ts similarity index 65% rename from src.ts/pipeline/physics_pipeline.ts rename to packages/rapier-2d/src/pipeline/physics_pipeline.ts index a3319205..f6a50b5a 100644 --- a/src.ts/pipeline/physics_pipeline.ts +++ b/packages/rapier-2d/src/pipeline/physics_pipeline.ts @@ -1,31 +1,32 @@ -import {RawPhysicsPipeline} from "../raw"; -import {Vector, VectorOps} from "../math"; import { IntegrationParameters, ImpulseJointSet, MultibodyJointSet, - RigidBodyHandle, RigidBodySet, CCDSolver, IslandManager, } from "../dynamics"; -import { - BroadPhase, - ColliderHandle, - ColliderSet, - NarrowPhase, -} from "../geometry"; +import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry"; +import {Vector, VectorOps} from "../math"; +import {RawPhysicsPipeline, RawVector} from "../raw"; import {EventQueue} from "./event_queue"; import {PhysicsHooks} from "./physics_hooks"; export class PhysicsPipeline { raw: RawPhysicsPipeline; + private cachedGravity: RawVector | null = null; + private lastGravityX = 0; + private lastGravityY = 0; public free() { + if (this.cachedGravity) { + this.cachedGravity.free(); + this.cachedGravity = null; + } if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw?: RawPhysicsPipeline) { @@ -46,11 +47,20 @@ export class PhysicsPipeline { eventQueue?: EventQueue, hooks?: PhysicsHooks, ) { - let rawG = VectorOps.intoRaw(gravity); + if ( + !this.cachedGravity || + gravity.x !== this.lastGravityX || + gravity.y !== this.lastGravityY + ) { + this.cachedGravity?.free(); + this.cachedGravity = VectorOps.intoRaw(gravity); + this.lastGravityX = gravity.x; + this.lastGravityY = gravity.y; + } if (!!eventQueue) { this.raw.stepWithEvents( - rawG, + this.cachedGravity, integrationParameters.raw, islands.raw, broadPhase.raw, @@ -61,13 +71,13 @@ export class PhysicsPipeline { multibodyJoints.raw, ccdSolver.raw, eventQueue.raw, - hooks, - !!hooks ? hooks.filterContactPair : null, - !!hooks ? hooks.filterIntersectionPair : null, + hooks as object, + hooks?.filterContactPair as Function, + hooks?.filterIntersectionPair as Function, ); } else { this.raw.step( - rawG, + this.cachedGravity, integrationParameters.raw, islands.raw, broadPhase.raw, @@ -79,7 +89,5 @@ export class PhysicsPipeline { ccdSolver.raw, ); } - - rawG.free(); } } diff --git a/src.ts/pipeline/query_pipeline.ts b/packages/rapier-2d/src/pipeline/query_pipeline.ts similarity index 62% rename from src.ts/pipeline/query_pipeline.ts rename to packages/rapier-2d/src/pipeline/query_pipeline.ts index 5610ff31..dc4b1204 100644 --- a/src.ts/pipeline/query_pipeline.ts +++ b/packages/rapier-2d/src/pipeline/query_pipeline.ts @@ -1,17 +1,4 @@ -import {RawRayColliderIntersection} from "../raw"; -import { - ColliderHandle, - ColliderSet, - InteractionGroups, - PointColliderProjection, - Ray, - RayColliderIntersection, - RayColliderHit, - Shape, - ColliderShapeCastHit, -} from "../geometry"; -import {IslandManager, RigidBodyHandle, RigidBodySet} from "../dynamics"; -import {Rotation, RotationOps, Vector, VectorOps} from "../math"; +// NOTE: must match the bits in the QueryFilterFlags on the Rust side. // NOTE: must match the bits in the QueryFilterFlags on the Rust side. /** @@ -41,17 +28,14 @@ export enum QueryFilterFlags { /** * Excludes all colliders not attached to a dynamic rigid-body. */ - ONLY_DYNAMIC = QueryFilterFlags.EXCLUDE_FIXED | - QueryFilterFlags.EXCLUDE_KINEMATIC, + ONLY_DYNAMIC = QueryFilterFlags.EXCLUDE_FIXED | QueryFilterFlags.EXCLUDE_KINEMATIC, /** * Excludes all colliders not attached to a kinematic rigid-body. */ - ONLY_KINEMATIC = QueryFilterFlags.EXCLUDE_DYNAMIC | - QueryFilterFlags.EXCLUDE_FIXED, + ONLY_KINEMATIC = QueryFilterFlags.EXCLUDE_DYNAMIC | QueryFilterFlags.EXCLUDE_FIXED, /** * Exclude all colliders attached to a non-fixed rigid-body * (this will not exclude colliders not attached to any rigid-body). */ - ONLY_FIXED = QueryFilterFlags.EXCLUDE_DYNAMIC | - QueryFilterFlags.EXCLUDE_KINEMATIC, + ONLY_FIXED = QueryFilterFlags.EXCLUDE_DYNAMIC | QueryFilterFlags.EXCLUDE_KINEMATIC, } diff --git a/src.ts/pipeline/serialization_pipeline.ts b/packages/rapier-2d/src/pipeline/serialization_pipeline.ts similarity index 95% rename from src.ts/pipeline/serialization_pipeline.ts rename to packages/rapier-2d/src/pipeline/serialization_pipeline.ts index 87fde398..dd7ab11a 100644 --- a/src.ts/pipeline/serialization_pipeline.ts +++ b/packages/rapier-2d/src/pipeline/serialization_pipeline.ts @@ -1,5 +1,3 @@ -import {RawSerializationPipeline} from "../raw"; -import {Vector, VectorOps} from "../math"; import { IntegrationParameters, IslandManager, @@ -8,6 +6,8 @@ import { RigidBodySet, } from "../dynamics"; import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry"; +import {Vector, VectorOps} from "../math"; +import {RawSerializationPipeline} from "../raw"; import {World} from "./world"; /** @@ -26,7 +26,7 @@ export class SerializationPipeline { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw?: RawSerializationPipeline) { @@ -70,7 +70,7 @@ export class SerializationPipeline { ); rawGra.free(); - return res; + return res!; } /** @@ -79,6 +79,6 @@ export class SerializationPipeline { * @param data - The byte array to deserialize. */ public deserializeAll(data: Uint8Array): World { - return World.fromRaw(this.raw.deserializeAll(data)); + return World.fromRaw(this.raw.deserializeAll(data)!)!; } } diff --git a/packages/rapier-2d/src/pipeline/world.ts b/packages/rapier-2d/src/pipeline/world.ts new file mode 100644 index 00000000..8b0ec4c1 --- /dev/null +++ b/packages/rapier-2d/src/pipeline/world.ts @@ -0,0 +1,1213 @@ +import {KinematicCharacterController, PidAxesMask, PidController} from "../control"; +import { + CCDSolver, + IntegrationParameters, + IslandManager, + ImpulseJoint, + ImpulseJointHandle, + MultibodyJoint, + MultibodyJointHandle, + JointData, + ImpulseJointSet, + MultibodyJointSet, + RigidBody, + RigidBodyDesc, + RigidBodyHandle, + RigidBodySet, +} from "../dynamics"; +import { + BroadPhase, + Collider, + ColliderDesc, + ColliderHandle, + ColliderSet, + InteractionGroups, + NarrowPhase, + PointColliderProjection, + Ray, + RayColliderIntersection, + RayColliderHit, + Shape, + ColliderShapeCastHit, + TempContactManifold, +} from "../geometry"; +import {Rotation, Vector, VectorOps} from "../math"; +import { + RawBroadPhase, + RawCCDSolver, + RawColliderSet, + RawDeserializedWorld, + RawIntegrationParameters, + RawIslandManager, + RawImpulseJointSet, + RawMultibodyJointSet, + RawNarrowPhase, + RawPhysicsPipeline, + RawRigidBodySet, + RawSerializationPipeline, + RawDebugRenderPipeline, +} from "../raw"; +import {DebugRenderBuffers, DebugRenderPipeline} from "./debug_render_pipeline"; +import {EventQueue} from "./event_queue"; +import {PhysicsHooks} from "./physics_hooks"; +import {PhysicsPipeline} from "./physics_pipeline"; +import {QueryFilterFlags} from "./query_pipeline"; +import {SerializationPipeline} from "./serialization_pipeline"; + +/** + * The physics world. + * + * This contains all the data-structures necessary for creating and simulating + * bodies with contacts, joints, and external forces. + */ +export class World { + public gravity: Vector; + integrationParameters: IntegrationParameters; + islands: IslandManager; + broadPhase: BroadPhase; + narrowPhase: NarrowPhase; + bodies: RigidBodySet; + colliders: ColliderSet; + impulseJoints: ImpulseJointSet; + multibodyJoints: MultibodyJointSet; + ccdSolver: CCDSolver; + physicsPipeline: PhysicsPipeline; + serializationPipeline: SerializationPipeline; + debugRenderPipeline: DebugRenderPipeline; + characterControllers: Set; + pidControllers: Set; + + /** + * Release the WASM memory occupied by this physics world. + * + * All the fields of this physics world will be freed as well, + * so there is no need to call their `.free()` methods individually. + */ + public free() { + this.integrationParameters.free(); + this.islands.free(); + this.broadPhase.free(); + this.narrowPhase.free(); + this.bodies.free(); + this.colliders.free(); + this.impulseJoints.free(); + this.multibodyJoints.free(); + this.ccdSolver.free(); + this.physicsPipeline.free(); + this.serializationPipeline.free(); + this.debugRenderPipeline.free(); + this.characterControllers.forEach((controller) => controller.free()); + this.pidControllers.forEach((controller) => controller.free()); + + this.integrationParameters = undefined!; + this.islands = undefined!; + this.broadPhase = undefined!; + this.narrowPhase = undefined!; + this.bodies = undefined!; + this.colliders = undefined!; + this.ccdSolver = undefined!; + this.impulseJoints = undefined!; + this.multibodyJoints = undefined!; + this.physicsPipeline = undefined!; + this.serializationPipeline = undefined!; + this.debugRenderPipeline = undefined!; + this.characterControllers = undefined!; + this.pidControllers = undefined!; + } + + constructor( + gravity: Vector, + rawIntegrationParameters?: RawIntegrationParameters, + rawIslands?: RawIslandManager, + rawBroadPhase?: RawBroadPhase, + rawNarrowPhase?: RawNarrowPhase, + rawBodies?: RawRigidBodySet, + rawColliders?: RawColliderSet, + rawImpulseJoints?: RawImpulseJointSet, + rawMultibodyJoints?: RawMultibodyJointSet, + rawCCDSolver?: RawCCDSolver, + rawPhysicsPipeline?: RawPhysicsPipeline, + rawSerializationPipeline?: RawSerializationPipeline, + rawDebugRenderPipeline?: RawDebugRenderPipeline, + ) { + this.gravity = gravity; + this.integrationParameters = new IntegrationParameters(rawIntegrationParameters); + this.islands = new IslandManager(rawIslands); + this.broadPhase = new BroadPhase(rawBroadPhase); + this.narrowPhase = new NarrowPhase(rawNarrowPhase); + this.bodies = new RigidBodySet(rawBodies); + this.colliders = new ColliderSet(rawColliders); + this.impulseJoints = new ImpulseJointSet(rawImpulseJoints); + this.multibodyJoints = new MultibodyJointSet(rawMultibodyJoints); + this.ccdSolver = new CCDSolver(rawCCDSolver); + this.physicsPipeline = new PhysicsPipeline(rawPhysicsPipeline); + this.serializationPipeline = new SerializationPipeline(rawSerializationPipeline); + this.debugRenderPipeline = new DebugRenderPipeline(rawDebugRenderPipeline); + this.characterControllers = new Set(); + this.pidControllers = new Set(); + + this.impulseJoints.finalizeDeserialization(this.bodies); + this.bodies.finalizeDeserialization(this.colliders); + this.colliders.finalizeDeserialization(this.bodies); + } + + public static fromRaw(raw: RawDeserializedWorld): World | null { + if (!raw) return null; + + return new World( + VectorOps.fromRaw(raw.takeGravity()!)!, + raw.takeIntegrationParameters(), + raw.takeIslandManager(), + raw.takeBroadPhase(), + raw.takeNarrowPhase(), + raw.takeBodies(), + raw.takeColliders(), + raw.takeImpulseJoints(), + raw.takeMultibodyJoints(), + ); + } + + /** + * Takes a snapshot of this world. + * + * Use `World.restoreSnapshot` to create a new physics world with a state identical to + * the state when `.takeSnapshot()` is called. + */ + public takeSnapshot(): Uint8Array { + return this.serializationPipeline.serializeAll( + this.gravity, + this.integrationParameters, + this.islands, + this.broadPhase, + this.narrowPhase, + this.bodies, + this.colliders, + this.impulseJoints, + this.multibodyJoints, + ); + } + + /** + * Creates a new physics world from a snapshot. + * + * This new physics world will be an identical copy of the snapshoted physics world. + */ + public static restoreSnapshot(data: Uint8Array): World { + let deser = new SerializationPipeline(); + return deser.deserializeAll(data); + } + + /** + * Computes all the lines (and their colors) needed to render the scene. + * + * @param filterFlags - Flags for excluding whole subsets of colliders from rendering. + * @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the + * debug rendering. + */ + public debugRender( + filterFlags?: QueryFilterFlags, + filterPredicate?: (collider: Collider) => boolean, + ): DebugRenderBuffers { + this.debugRenderPipeline.render( + this.bodies, + this.colliders, + this.impulseJoints, + this.multibodyJoints, + this.narrowPhase, + filterFlags, + filterPredicate, + ); + return new DebugRenderBuffers( + this.debugRenderPipeline.vertices, + this.debugRenderPipeline.colors, + ); + } + + /** + * Advance the simulation by one time step. + * + * All events generated by the physics engine are ignored. + * + * @param EventQueue - (optional) structure responsible for collecting + * events generated by the physics engine. + */ + public step(eventQueue?: EventQueue, hooks?: PhysicsHooks) { + this.physicsPipeline.step( + this.gravity, + this.integrationParameters, + this.islands, + this.broadPhase, + this.narrowPhase, + this.bodies, + this.colliders, + this.impulseJoints, + this.multibodyJoints, + this.ccdSolver, + eventQueue, + hooks, + ); + } + + /** + * Update colliders positions after rigid-bodies moved. + * + * When a rigid-body moves, the positions of the colliders attached to it need to be updated. This update is + * generally automatically done at the beginning and the end of each simulation step with World.step. + * If the positions need to be updated without running a simulation step this method can be called manually. + */ + public propagateModifiedBodyPositionsToColliders() { + this.bodies.raw.propagateModifiedBodyPositionsToColliders(this.colliders.raw); + } + + // TODO: This needs to trigger a broad-phase update but without emitting collision events? + // /** + // * Ensure subsequent scene queries take into account the collider positions set before this method is called. + // * + // * This does not step the physics simulation forward. + // */ + // public updateSceneQueries() { + // this.propagateModifiedBodyPositionsToColliders(); + // this.queryPipeline.update(this.colliders); + // } + + /** + * The current simulation timestep. + */ + get timestep(): number { + return this.integrationParameters.dt; + } + + /** + * Sets the new simulation timestep. + * + * The simulation timestep governs by how much the physics state of the world will + * be integrated. A simulation timestep should: + * - be as small as possible. Typical values evolve around 0.016 (assuming the chosen unit is milliseconds, + * corresponds to the time between two frames of a game running at 60FPS). + * - not vary too much during the course of the simulation. A timestep with large variations may + * cause instabilities in the simulation. + * + * @param dt - The timestep length, in seconds. + */ + set timestep(dt: number) { + this.integrationParameters.dt = dt; + } + + /** + * The approximate size of most dynamic objects in the scene. + * + * See the documentation of the `World.lengthUnit` setter for further details. + */ + get lengthUnit(): number { + return this.integrationParameters.lengthUnit; + } + + /** + * The approximate size of most dynamic objects in the scene. + * + * This value is used internally to estimate some length-based tolerance. In particular, the + * values `IntegrationParameters.allowedLinearError`, + * `IntegrationParameters.maxPenetrationCorrection`, + * `IntegrationParameters.predictionDistance`, `RigidBodyActivation.linearThreshold` + * are scaled by this value implicitly. + * + * This value can be understood as the number of units-per-meter in your physical world compared + * to a human-sized world in meter. For example, in a 2d game, if your typical object size is 100 + * pixels, set the `[`Self::length_unit`]` parameter to 100.0. The physics engine will interpret + * it as if 100 pixels is equivalent to 1 meter in its various internal threshold. + * (default `1.0`). + */ + set lengthUnit(unitsPerMeter: number) { + this.integrationParameters.lengthUnit = unitsPerMeter; + } + + /** + * The number of solver iterations run by the constraints solver for calculating forces (default: `4`). + */ + get numSolverIterations(): number { + return this.integrationParameters.numSolverIterations; + } + + /** + * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`). + * + * The greater this value is, the most rigid and realistic the physics simulation will be. + * However a greater number of iterations is more computationally intensive. + * + * @param niter - The new number of solver iterations. + */ + set numSolverIterations(niter: number) { + this.integrationParameters.numSolverIterations = niter; + } + + /** + * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`). + */ + get numInternalPgsIterations(): number { + return this.integrationParameters.numInternalPgsIterations; + } + + /** + * Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`). + * + * Increasing this parameter will improve stability of the simulation. It will have a lesser effect than + * increasing `numSolverIterations` but is also less computationally expensive. + * + * @param niter - The new number of internal PGS iterations. + */ + set numInternalPgsIterations(niter: number) { + this.integrationParameters.numInternalPgsIterations = niter; + } + + /** + * The number of substeps continuous collision-detection can run (default: `1`). + */ + get maxCcdSubsteps(): number { + return this.integrationParameters.maxCcdSubsteps; + } + + /** + * Sets the number of substeps continuous collision-detection can run (default: `1`). + * + * CCD operates using a "motion clamping" mechanism where all fast-moving object trajectories will + * be truncated to their first impact on their path. The number of CCD substeps beyond 1 indicate how + * many times that trajectory will be updated and continued after a hit. This can results in smoother + * paths, but at a significant computational cost. + * + * @param niter - The new maximum number of CCD substeps. Setting to `0` disables CCD entirely. + */ + set maxCcdSubsteps(substeps: number) { + this.integrationParameters.maxCcdSubsteps = substeps; + } + + /** + * Creates a new rigid-body from the given rigid-body descriptor. + * + * @param body - The description of the rigid-body to create. + */ + public createRigidBody(body: RigidBodyDesc): RigidBody { + return this.bodies.createRigidBody(this.colliders, body); + } + + /** + * Creates a new character controller. + * + * @param offset - The artificial gap added between the character’s chape and its environment. + */ + public createCharacterController(offset: number): KinematicCharacterController { + let controller = new KinematicCharacterController( + offset, + this.integrationParameters, + this.broadPhase, + this.narrowPhase, + this.bodies, + this.colliders, + ); + this.characterControllers.add(controller); + return controller; + } + + /** + * Removes a character controller from this world. + * + * @param controller - The character controller to remove. + */ + public removeCharacterController(controller: KinematicCharacterController) { + this.characterControllers.delete(controller); + controller.free(); + } + + /** + * Creates a new PID (Proportional-Integral-Derivative) controller. + * + * @param kp - The Proportional gain applied to the instantaneous linear position errors. + * This is usually set to a multiple of the inverse of simulation step time + * (e.g. `60` if the delta-time is `1.0 / 60.0`). + * @param ki - The linear gain applied to the Integral part of the PID controller. + * @param kd - The Derivative gain applied to the instantaneous linear velocity errors. + * This is usually set to a value in `[0.0, 1.0]` where `0.0` implies no damping + * (no correction of velocity errors) and `1.0` implies complete damping (velocity errors + * are corrected in a single simulation step). + * @param axes - The axes affected by this controller. + * Only coordinate axes with a bit flags set to `true` will be taken into + * account when calculating the errors and corrections. + */ + public createPidController( + kp: number, + ki: number, + kd: number, + axes: PidAxesMask, + ): PidController { + let controller = new PidController( + this.integrationParameters, + this.bodies, + kp, + ki, + kd, + axes, + ); + this.pidControllers.add(controller); + return controller; + } + + /** + * Removes a PID controller from this world. + * + * @param controller - The PID controller to remove. + */ + public removePidController(controller: PidController) { + this.pidControllers.delete(controller); + controller.free(); + } + + /** + * Creates a new collider. + * + * @param desc - The description of the collider. + * @param parent - The rigid-body this collider is attached to. + */ + public createCollider(desc: ColliderDesc, parent?: RigidBody): Collider { + let parentHandle = parent ? parent.handle : undefined!; + return this.colliders.createCollider(this.bodies, desc, parentHandle); + } + + /** + * Creates a new impulse joint from the given joint descriptor. + * + * @param params - The description of the joint to create. + * @param parent1 - The first rigid-body attached to this joint. + * @param parent2 - The second rigid-body attached to this joint. + * @param wakeUp - Should the attached rigid-bodies be awakened? + */ + public createImpulseJoint( + params: JointData, + parent1: RigidBody, + parent2: RigidBody, + wakeUp: boolean, + ): ImpulseJoint { + return this.impulseJoints.createJoint( + this.bodies, + params, + parent1.handle, + parent2.handle, + wakeUp, + ); + } + + /** + * Creates a new multibody joint from the given joint descriptor. + * + * @param params - The description of the joint to create. + * @param parent1 - The first rigid-body attached to this joint. + * @param parent2 - The second rigid-body attached to this joint. + * @param wakeUp - Should the attached rigid-bodies be awakened? + */ + public createMultibodyJoint( + params: JointData, + parent1: RigidBody, + parent2: RigidBody, + wakeUp: boolean, + ): MultibodyJoint { + return this.multibodyJoints.createJoint(params, parent1.handle, parent2.handle, wakeUp); + } + + /** + * Retrieves a rigid-body from its handle. + * + * @param handle - The integer handle of the rigid-body to retrieve. + */ + public getRigidBody(handle: RigidBodyHandle): RigidBody | null { + return this.bodies.get(handle); + } + + /** + * Retrieves a collider from its handle. + * + * @param handle - The integer handle of the collider to retrieve. + */ + public getCollider(handle: ColliderHandle): Collider | null { + return this.colliders.get(handle); + } + + /** + * Retrieves an impulse joint from its handle. + * + * @param handle - The integer handle of the impulse joint to retrieve. + */ + public getImpulseJoint(handle: ImpulseJointHandle): ImpulseJoint | null { + return this.impulseJoints.get(handle); + } + + /** + * Retrieves an multibody joint from its handle. + * + * @param handle - The integer handle of the multibody joint to retrieve. + */ + public getMultibodyJoint(handle: MultibodyJointHandle): MultibodyJoint | null { + return this.multibodyJoints.get(handle); + } + + /** + * Removes the given rigid-body from this physics world. + * + * This will remove this rigid-body as well as all its attached colliders and joints. + * Every other bodies touching or attached by joints to this rigid-body will be woken-up. + * + * @param body - The rigid-body to remove. + */ + public removeRigidBody(body: RigidBody) { + if (this.bodies) { + this.bodies.remove( + body.handle, + this.islands, + this.colliders, + this.impulseJoints, + this.multibodyJoints, + ); + } + } + + /** + * Removes the given collider from this physics world. + * + * @param collider - The collider to remove. + * @param wakeUp - If set to `true`, the rigid-body this collider is attached to will be awaken. + */ + public removeCollider(collider: Collider, wakeUp: boolean) { + if (this.colliders) { + this.colliders.remove(collider.handle, this.islands, this.bodies, wakeUp); + } + } + + /** + * Removes the given impulse joint from this physics world. + * + * @param joint - The impulse joint to remove. + * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken. + */ + public removeImpulseJoint(joint: ImpulseJoint, wakeUp: boolean) { + if (this.impulseJoints) { + this.impulseJoints.remove(joint.handle, wakeUp); + } + } + + /** + * Removes the given multibody joint from this physics world. + * + * @param joint - The multibody joint to remove. + * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken. + */ + public removeMultibodyJoint(joint: MultibodyJoint, wakeUp: boolean) { + if (this.impulseJoints) { + this.multibodyJoints.remove(joint.handle, wakeUp); + } + } + + /** + * Applies the given closure to each collider managed by this physics world. + * + * @param f(collider) - The function to apply to each collider managed by this physics world. Called as `f(collider)`. + */ + public forEachCollider(f: (collider: Collider) => void) { + this.colliders.forEach(f); + } + + /** + * Applies the given closure to each rigid-body managed by this physics world. + * + * @param f(body) - The function to apply to each rigid-body managed by this physics world. Called as `f(collider)`. + */ + public forEachRigidBody(f: (body: RigidBody) => void) { + this.bodies.forEach(f); + } + + /** + * Applies the given closure to each active rigid-body managed by this physics world. + * + * After a short time of inactivity, a rigid-body is automatically deactivated ("asleep") by + * the physics engine in order to save computational power. A sleeping rigid-body never moves + * unless it is moved manually by the user. + * + * @param f - The function to apply to each active rigid-body managed by this physics world. Called as `f(collider)`. + */ + public forEachActiveRigidBody(f: (body: RigidBody) => void) { + this.bodies.forEachActiveRigidBody(this.islands, f); + } + + /** + * Find the closest intersection between a ray and the physics world. + * + * @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. + * @param groups - Used to filter the colliders that can or cannot be hit by the ray. + * @param filter - The callback to filter out which collider will be hit. + */ + public castRay( + ray: Ray, + maxToi: number, + solid: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ): RayColliderHit | null { + return this.broadPhase.castRay( + this.narrowPhase, + this.bodies, + this.colliders, + ray, + maxToi, + solid, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Find the closest intersection between a ray and the physics world. + * + * 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. + * @param groups - Used to filter the colliders that can or cannot be hit by the ray. + */ + public castRayAndGetNormal( + ray: Ray, + maxToi: number, + solid: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ): RayColliderIntersection | null { + return this.broadPhase.castRayAndGetNormal( + this.narrowPhase, + this.bodies, + this.colliders, + ray, + maxToi, + solid, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Cast a ray and collects all the intersections between a ray and the scene. + * + * @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. + * @param groups - Used to filter the colliders that can or cannot be hit by the ray. + * @param callback - The callback called once per hit (in no particular order) between a ray and a collider. + * If this callback returns `false`, then the cast will stop and no further hits will be detected/reported. + */ + public intersectionsWithRay( + ray: Ray, + maxToi: number, + solid: boolean, + callback: (intersect: RayColliderIntersection) => boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ) { + this.broadPhase.intersectionsWithRay( + this.narrowPhase, + this.bodies, + this.colliders, + ray, + maxToi, + solid, + callback, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Gets the handle of up to one collider intersecting the given shape. + * + * @param shapePos - The position of the shape used for the intersection test. + * @param shapeRot - The orientation of the shape used for the intersection test. + * @param shape - The shape used for the intersection test. + * @param groups - The bit groups and filter associated to the ray, in order to only + * hit the colliders with collision groups compatible with the ray's group. + */ + public intersectionWithShape( + shapePos: Vector, + shapeRot: Rotation, + shape: Shape, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ): Collider | null { + let handle = this.broadPhase.intersectionWithShape( + this.narrowPhase, + this.bodies, + this.colliders, + shapePos, + shapeRot, + shape, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + return handle != null ? this.colliders.get(handle) : null; + } + + /** + * Find the projection of a point on the closest 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). + * @param groups - The bit groups and filter associated to the point to project, in order to only + * project on colliders with collision groups compatible with the ray's group. + */ + public projectPoint( + point: Vector, + solid: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ): PointColliderProjection | null { + return this.broadPhase.projectPoint( + this.narrowPhase, + this.bodies, + this.colliders, + point, + solid, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Find the projection of a point on the closest collider. + * + * @param point - The point to project. + * @param groups - The bit groups and filter associated to the point to project, in order to only + * project on colliders with collision groups compatible with the ray's group. + */ + public projectPointAndGetFeature( + point: Vector, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ): PointColliderProjection | null { + return this.broadPhase.projectPointAndGetFeature( + this.narrowPhase, + this.bodies, + this.colliders, + point, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Find all the colliders containing the given point. + * + * @param point - The point used for the containment test. + * @param groups - The bit groups and filter associated to the point to test, in order to only + * test on colliders with collision groups compatible with the ray's group. + * @param callback - A function called with the handles of each collider with a shape + * containing the `point`. + */ + public intersectionsWithPoint( + point: Vector, + callback: (handle: Collider) => boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ) { + this.broadPhase.intersectionsWithPoint( + this.narrowPhase, + this.bodies, + this.colliders, + point, + this.colliders.castClosure(callback)!, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Casts a shape at a constant linear velocity and retrieve the first collider it hits. + * This is similar to ray-casting except that we are casting a whole shape instead of + * just a point (the ray origin). + * + * @param shapePos - The initial position of the shape to cast. + * @param shapeRot - The initial rotation of the shape to cast. + * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction). + * @param shape - The shape to cast. + * @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. + * @param groups - The bit groups and filter associated to the shape to cast, in order to only + * test on colliders with collision groups compatible with this group. + */ + public castShape( + shapePos: Vector, + shapeRot: Rotation, + shapeVel: Vector, + shape: Shape, + targetDistance: number, + maxToi: number, + stopAtPenetration: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ): ColliderShapeCastHit | null { + return this.broadPhase.castShape( + this.narrowPhase, + this.bodies, + this.colliders, + shapePos, + shapeRot, + shapeVel, + shape, + targetDistance, + maxToi, + stopAtPenetration, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Retrieve all the colliders intersecting the given shape. + * + * @param shapePos - The position of the shape to test. + * @param shapeRot - The orientation of the shape to test. + * @param shape - The shape to test. + * @param groups - The bit groups and filter associated to the shape to test, in order to only + * test on colliders with collision groups compatible with this group. + * @param callback - A function called with the handles of each collider intersecting the `shape`. + */ + public intersectionsWithShape( + shapePos: Vector, + shapeRot: Rotation, + shape: Shape, + callback: (collider: Collider) => boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: Collider, + filterExcludeRigidBody?: RigidBody, + filterPredicate?: (collider: Collider) => boolean, + ) { + this.broadPhase.intersectionsWithShape( + this.narrowPhase, + this.bodies, + this.colliders, + shapePos, + shapeRot, + shape, + this.colliders.castClosure(callback)!, + filterFlags, + filterGroups, + filterExcludeCollider ? filterExcludeCollider.handle : undefined, + filterExcludeRigidBody ? filterExcludeRigidBody.handle : undefined, + this.colliders.castClosure(filterPredicate), + ); + } + + /** + * Finds the handles of all the colliders with an AABB intersecting the given AABB. + * + * @param aabbCenter - The center of the AABB to test. + * @param aabbHalfExtents - The half-extents of the AABB to test. + * @param callback - The callback that will be called with the handles of all the colliders + * currently intersecting the given AABB. + */ + public collidersWithAabbIntersectingAabb( + aabbCenter: Vector, + aabbHalfExtents: Vector, + callback: (handle: Collider) => boolean, + ) { + this.broadPhase.collidersWithAabbIntersectingAabb( + this.narrowPhase, + this.bodies, + this.colliders, + aabbCenter, + aabbHalfExtents, + this.colliders.castClosure(callback)!, + ); + } + + /** + * Enumerates all the colliders potentially in contact with the given collider. + * + * @param collider1 - The second collider involved in the contact. + * @param f - Closure that will be called on each collider that is in contact with `collider1`. + */ + public contactPairsWith(collider1: Collider, f: (collider2: Collider) => void) { + this.narrowPhase.contactPairsWith(collider1.handle, this.colliders.castClosure(f)!); + } + + /** + * Enumerates all the colliders intersecting the given colliders, assuming one of them + * is a sensor. + */ + public intersectionPairsWith(collider1: Collider, f: (collider2: Collider) => void) { + this.narrowPhase.intersectionPairsWith(collider1.handle, this.colliders.castClosure(f)!); + } + + /** + * Iterates through all the contact manifolds between the given pair of colliders. + * + * @param collider1 - The first collider involved in the contact. + * @param collider2 - The second collider involved in the contact. + * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument + * passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1` + * actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`. + */ + public contactPair( + collider1: Collider, + collider2: Collider, + f: (manifold: TempContactManifold, flipped: boolean) => void, + ) { + this.narrowPhase.contactPair(collider1.handle, collider2.handle, f); + } + + /** + * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor. + * @param collider1 − The first collider involved in the intersection. + * @param collider2 − The second collider involved in the intersection. + */ + public intersectionPair(collider1: Collider, collider2: Collider): boolean { + return this.narrowPhase.intersectionPair(collider1.handle, collider2.handle); + } + + /** + * Sets whether internal performance profiling is enabled (default: false). + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + set profilerEnabled(enabled: boolean) { + this.physicsPipeline.raw.set_profiler_enabled(enabled); + } + + /** + * Indicates if the internal performance profiling is enabled. + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + get profilerEnabled(): boolean { + return this.physicsPipeline.raw.is_profiler_enabled(); + } + + /** + * The time spent in milliseconds by the last step to run the entire simulation step. + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingStep(): number { + return this.physicsPipeline.raw.timing_step(); + } + + /** + * The time spent in milliseconds by the last step to run the collision-detection + * (broad-phase + narrow-phase). + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingCollisionDetection(): number { + return this.physicsPipeline.raw.timing_collision_detection(); + } + + /** + * The time spent in milliseconds by the last step to run the broad-phase. + * + * This timing is included in `timingCollisionDetection`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingBroadPhase(): number { + return this.physicsPipeline.raw.timing_broad_phase(); + } + + /** + * The time spent in milliseconds by the last step to run the narrow-phase. + * + * This timing is included in `timingCollisionDetection`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingNarrowPhase(): number { + return this.physicsPipeline.raw.timing_narrow_phase(); + } + + /** + * The time spent in milliseconds by the last step to run the constraint solver. + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingSolver(): number { + return this.physicsPipeline.raw.timing_solver(); + } + + /** + * The time spent in milliseconds by the last step to run the constraint + * initialization. + * + * This timing is included in `timingSolver`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingVelocityAssembly(): number { + return this.physicsPipeline.raw.timing_velocity_assembly(); + } + + /** + * The time spent in milliseconds by the last step to run the constraint + * resolution. + * + * This timing is included in `timingSolver`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingVelocityResolution(): number { + return this.physicsPipeline.raw.timing_velocity_resolution(); + } + + /** + * The time spent in milliseconds by the last step to run the rigid-body + * velocity update. + * + * This timing is included in `timingSolver`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingVelocityUpdate(): number { + return this.physicsPipeline.raw.timing_velocity_update(); + } + + /** + * The time spent in milliseconds by writing rigid-body velocities + * calculated by the solver back into the rigid-bodies. + * + * This timing is included in `timingSolver`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingVelocityWriteback(): number { + return this.physicsPipeline.raw.timing_velocity_writeback(); + } + + /** + * The total time spent in CCD detection and resolution. + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingCcd(): number { + return this.physicsPipeline.raw.timing_ccd(); + } + + /** + * The total time spent searching for the continuous hits during CCD. + * + * This timing is included in `timingCcd`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingCcdToiComputation(): number { + return this.physicsPipeline.raw.timing_ccd_toi_computation(); + } + + /** + * The total time spent in the broad-phase during CCD. + * + * This timing is included in `timingCcd`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingCcdBroadPhase(): number { + return this.physicsPipeline.raw.timing_ccd_broad_phase(); + } + + /** + * The total time spent in the narrow-phase during CCD. + * + * This timing is included in `timingCcd`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingCcdNarrowPhase(): number { + return this.physicsPipeline.raw.timing_ccd_narrow_phase(); + } + + /** + * The total time spent in the constraints resolution during CCD. + * + * This timing is included in `timingCcd`. + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingCcdSolver(): number { + return this.physicsPipeline.raw.timing_ccd_solver(); + } + + /** + * The total time spent in the islands calculation during CCD. + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingIslandConstruction(): number { + return this.physicsPipeline.raw.timing_island_construction(); + } + + /** + * The total time spent propagating detected user changes. + * + * Only works if the internal profiler is enabled with `World.profilerEnabled = true`. + */ + public timingUserChanges(): number { + return this.physicsPipeline.raw.timing_user_changes(); + } +} diff --git a/packages/rapier-2d/src/rapier-compat-simd.ts b/packages/rapier-2d/src/rapier-compat-simd.ts new file mode 100644 index 00000000..c33cd274 --- /dev/null +++ b/packages/rapier-2d/src/rapier-compat-simd.ts @@ -0,0 +1,4 @@ +export * from "./exports"; +export {init} from "./init-compat-simd"; +import * as RAPIER from "./exports"; +export default RAPIER; diff --git a/packages/rapier-2d/src/rapier-compat.ts b/packages/rapier-2d/src/rapier-compat.ts new file mode 100644 index 00000000..af40f7c3 --- /dev/null +++ b/packages/rapier-2d/src/rapier-compat.ts @@ -0,0 +1,4 @@ +export * from "./exports"; +export {init} from "./init-compat"; +import * as RAPIER from "./exports"; +export default RAPIER; diff --git a/packages/rapier-2d/src/rapier-simd.ts b/packages/rapier-2d/src/rapier-simd.ts new file mode 100644 index 00000000..64f53025 --- /dev/null +++ b/packages/rapier-2d/src/rapier-simd.ts @@ -0,0 +1,4 @@ +export * from "./exports"; +export {init} from "./init-simd"; +import * as RAPIER from "./exports"; +export default RAPIER; diff --git a/src.ts/rapier.ts b/packages/rapier-2d/src/rapier.ts similarity index 78% rename from src.ts/rapier.ts rename to packages/rapier-2d/src/rapier.ts index dbf4d053..f8a07dfa 100644 --- a/src.ts/rapier.ts +++ b/packages/rapier-2d/src/rapier.ts @@ -1,3 +1,4 @@ import * as RAPIER from "./exports"; export * from "./exports"; +export * from "./init"; export default RAPIER; diff --git a/packages/rapier-2d/src/raw-simd.ts b/packages/rapier-2d/src/raw-simd.ts new file mode 100644 index 00000000..e2c33b1a --- /dev/null +++ b/packages/rapier-2d/src/raw-simd.ts @@ -0,0 +1 @@ +export * from "../wasm/release-simd/rapier_wasm_2d"; diff --git a/packages/rapier-2d/src/raw.ts b/packages/rapier-2d/src/raw.ts new file mode 100644 index 00000000..5e61e284 --- /dev/null +++ b/packages/rapier-2d/src/raw.ts @@ -0,0 +1 @@ +export * from "../wasm/release/rapier_wasm_2d"; diff --git a/packages/rapier-2d/tsconfig.json b/packages/rapier-2d/tsconfig.json new file mode 100644 index 00000000..bc768587 --- /dev/null +++ b/packages/rapier-2d/tsconfig.json @@ -0,0 +1,18 @@ +{ + "compilerOptions": { + "target": "ES2020", + "module": "ESNext", + "moduleResolution": "bundler", + "strict": true, + "esModuleInterop": true, + "skipLibCheck": true, + "declaration": true, + "declarationMap": true, + "sourceMap": true, + "outDir": "./dist", + "rootDir": "./src", + "lib": ["ES2020", "DOM"] + }, + "include": ["src/**/*.ts"], + "exclude": ["node_modules", "dist"] +} diff --git a/packages/rapier-2d/tsdown.config.ts b/packages/rapier-2d/tsdown.config.ts new file mode 100644 index 00000000..fc81fa53 --- /dev/null +++ b/packages/rapier-2d/tsdown.config.ts @@ -0,0 +1,47 @@ +import {copyFileSync} from "node:fs"; +import {resolve} from "node:path"; +import {defineConfig} from "tsdown"; + +const common = { + format: ["esm"] as ["esm"], + dts: true, + sourcemap: true, + loader: { + ".wasm": "base64" as const, + }, +}; + +export default defineConfig([ + { + ...common, + entry: {rapier: "./src/rapier.ts"}, + clean: true, + onSuccess: () => { + copyFileSync("./wasm/release/rapier_wasm_2d_bg.wasm", "./dist/rapier_wasm_2d_bg.wasm"); + }, + }, + { + ...common, + entry: {compat: "./src/rapier-compat.ts"}, + }, + { + ...common, + entry: {simd: "./src/rapier-simd.ts"}, + alias: { + [resolve("./src/raw")]: resolve("./src/raw-simd"), + }, + onSuccess: () => { + copyFileSync( + "./wasm/release-simd/rapier_wasm_2d_bg.wasm", + "./dist/rapier_wasm_2d_simd_bg.wasm", + ); + }, + }, + { + ...common, + entry: {"compat-simd": "./src/rapier-compat-simd.ts"}, + alias: { + [resolve("./src/raw")]: resolve("./src/raw-simd"), + }, + }, +]); diff --git a/packages/rapier-3d/package.json b/packages/rapier-3d/package.json new file mode 100644 index 00000000..7b12d92d --- /dev/null +++ b/packages/rapier-3d/package.json @@ -0,0 +1,54 @@ +{ + "name": "@alexandernanberg/rapier3d", + "version": "0.0.1", + "description": "3-dimensional physics engine - official JS bindings", + "keywords": [ + "3d", + "dynamics", + "joints", + "physics", + "rapier", + "real-time", + "rigid" + ], + "homepage": "https://rapier.rs", + "license": "Apache-2.0", + "author": "Sébastien Crozet ", + "repository": { + "type": "git", + "url": "https://github.com/dimforge/rapier.js" + }, + "files": [ + "dist" + ], + "type": "module", + "exports": { + ".": { + "types": "./dist/rapier.d.mts", + "default": "./dist/rapier.mjs" + }, + "./compat": { + "types": "./dist/compat.d.mts", + "default": "./dist/compat.mjs" + }, + "./simd": { + "types": "./dist/simd.d.mts", + "default": "./dist/simd.mjs" + }, + "./compat-simd": { + "types": "./dist/compat-simd.d.mts", + "default": "./dist/compat-simd.mjs" + } + }, + "scripts": { + "build": "tsdown", + "typecheck": "tsc --noEmit" + }, + "dependencies": { + "base64-js": "^1.5.1" + }, + "devDependencies": { + "tsdown": "^0.20.1", + "typescript": "^5.9.3" + } +} diff --git a/packages/rapier-3d/src/coarena.ts b/packages/rapier-3d/src/coarena.ts new file mode 100644 index 00000000..677c2458 --- /dev/null +++ b/packages/rapier-3d/src/coarena.ts @@ -0,0 +1,70 @@ +export class Coarena { + fconv: Float64Array; + uconv: Uint32Array; + data: Array; + size: number; + + public constructor() { + this.fconv = new Float64Array(1); + this.uconv = new Uint32Array(this.fconv.buffer); + this.data = new Array(); + this.size = 0; + } + + public set(handle: number, data: T) { + let i = this.index(handle); + while (this.data.length <= i) { + this.data.push(null); + } + + if (this.data[i] == null) this.size += 1; + this.data[i] = data; + } + + public len(): number { + return this.size; + } + + public delete(handle: number) { + let i = this.index(handle); + if (i < this.data.length) { + if (this.data[i] != null) this.size -= 1; + this.data[i] = null; + } + } + + public clear() { + this.data = new Array(); + } + + public get(handle: number): T | null { + let i = this.index(handle); + if (i < this.data.length) { + return this.data[i]; + } else { + return null; + } + } + + public forEach(f: (elt: T) => void) { + for (const elt of this.data) { + if (elt != null) f(elt); + } + } + + public getAll(): Array { + return this.data.filter((elt) => elt != null); + } + + private index(handle: number): number { + /// Extracts the index part of a handle (the lower 32 bits). + /// This is done by first injecting the handle into an Float64Array + /// which is itself injected into an Uint32Array (at construction time). + /// The 0-th value of the Uint32Array will become the `number` integer + /// representation of the lower 32 bits. + /// Also `this.uconv[1]` then contains the generation number as a `number`, + /// which we don’t really need. + this.fconv[0] = handle; + return this.uconv[0]; + } +} diff --git a/packages/rapier-3d/src/control/character_controller.ts b/packages/rapier-3d/src/control/character_controller.ts new file mode 100644 index 00000000..4278a943 --- /dev/null +++ b/packages/rapier-3d/src/control/character_controller.ts @@ -0,0 +1,374 @@ +import {IntegrationParameters, RigidBodySet} from "../dynamics"; +import { + BroadPhase, + Collider, + ColliderSet, + InteractionGroups, + NarrowPhase, +} from "../geometry"; +import {Vector, VectorOps} from "../math"; +import {QueryFilterFlags} from "../pipeline"; +import {RawKinematicCharacterController, RawCharacterCollision} from "../raw"; + +/** + * A collision between the character and an obstacle hit on its path. + */ +export class CharacterCollision { + /** The collider involved in the collision. Null if the collider no longer exists in the physics world. */ + public collider: Collider | null = null; + /** The translation delta applied to the character before this collision took place. */ + public translationDeltaApplied!: Vector; + /** The translation delta the character would move after this collision if there is no other obstacles. */ + public translationDeltaRemaining!: Vector; + /** The time-of-impact between the character and the obstacles. */ + public toi!: number; + /** The world-space contact point on the collider when the collision happens. */ + public witness1!: Vector; + /** The local-space contact point on the character when the collision happens. */ + public witness2!: Vector; + /** The world-space outward contact normal on the collider when the collision happens. */ + public normal1!: Vector; + /** The local-space outward contact normal on the character when the collision happens. */ + public normal2!: Vector; +} + +/** + * A character controller for controlling kinematic bodies and parentless colliders by hitting + * and sliding against obstacles. + */ +export class KinematicCharacterController { + private raw: RawKinematicCharacterController; + private rawCharacterCollision: RawCharacterCollision; + + private params: IntegrationParameters; + private broadPhase: BroadPhase; + private narrowPhase: NarrowPhase; + private bodies: RigidBodySet; + private colliders: ColliderSet; + private _applyImpulsesToDynamicBodies: boolean; + private _characterMass: number | null; + + constructor( + offset: number, + params: IntegrationParameters, + broadPhase: BroadPhase, + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + ) { + this.params = params; + this.bodies = bodies; + this.colliders = colliders; + this.broadPhase = broadPhase; + this.narrowPhase = narrowPhase; + this.raw = new RawKinematicCharacterController(offset); + this.rawCharacterCollision = new RawCharacterCollision(); + this._applyImpulsesToDynamicBodies = false; + this._characterMass = null; + } + + /** @internal */ + public free() { + if (!!this.raw) { + this.raw.free(); + this.rawCharacterCollision.free(); + } + + this.raw = undefined!; + this.rawCharacterCollision = undefined!; + } + + /** + * The direction that goes "up". Used to determine where the floor is, and the floor’s angle. + */ + public up(): Vector { + return this.raw.up(); + } + + /** + * Sets the direction that goes "up". Used to determine where the floor is, and the floor’s angle. + */ + public setUp(vector: Vector) { + let rawVect = VectorOps.intoRaw(vector); + this.raw.setUp(rawVect); + rawVect.free(); + } + + public applyImpulsesToDynamicBodies(): boolean { + return this._applyImpulsesToDynamicBodies; + } + + public setApplyImpulsesToDynamicBodies(enabled: boolean) { + this._applyImpulsesToDynamicBodies = enabled; + } + + /** + * Returns the custom value of the character mass, if it was set by `this.setCharacterMass`. + */ + public characterMass(): number | null { + return this._characterMass; + } + + /** + * Set the mass of the character to be used for impulse resolution if `self.applyImpulsesToDynamicBodies` + * is set to `true`. + * + * If no character mass is set explicitly (or if it is set to `null`) it is automatically assumed to be equal + * to the mass of the rigid-body the character collider is attached to; or equal to 0 if the character collider + * isn’t attached to any rigid-body. + * + * @param mass - The mass to set. + */ + public setCharacterMass(mass: number | null) { + this._characterMass = mass; + } + + /** + * A small gap to preserve between the character and its surroundings. + * + * This value should not be too large to avoid visual artifacts, but shouldn’t be too small + * (must not be zero) to improve numerical stability of the character controller. + */ + public offset(): number { + return this.raw.offset(); + } + + /** + * Sets a small gap to preserve between the character and its surroundings. + * + * This value should not be too large to avoid visual artifacts, but shouldn’t be too small + * (must not be zero) to improve numerical stability of the character controller. + */ + public setOffset(value: number) { + this.raw.setOffset(value); + } + + /// Increase this number if your character appears to get stuck when sliding against surfaces. + /// + /// This is a small distance applied to the movement toward the contact normals of shapes hit + /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating + /// state during the sliding calculation. + /// + /// This value should remain fairly small since it can introduce artificial "bumps" when sliding + /// along a flat surface. + public normalNudgeFactor(): number { + return this.raw.normalNudgeFactor(); + } + + /// Increase this number if your character appears to get stuck when sliding against surfaces. + /// + /// This is a small distance applied to the movement toward the contact normals of shapes hit + /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating + /// state during the sliding calculation. + /// + /// This value should remain fairly small since it can introduce artificial "bumps" when sliding + /// along a flat surface. + public setNormalNudgeFactor(value: number) { + this.raw.setNormalNudgeFactor(value); + } + + /** + * Is sliding against obstacles enabled? + */ + public slideEnabled(): boolean { + return this.raw.slideEnabled(); + } + + /** + * Enable or disable sliding against obstacles. + */ + public setSlideEnabled(enabled: boolean) { + this.raw.setSlideEnabled(enabled); + } + + /** + * The maximum step height a character can automatically step over. + */ + public autostepMaxHeight(): number | null { + return this.raw.autostepMaxHeight() ?? null; + } + + /** + * The minimum width of free space that must be available after stepping on a stair. + */ + public autostepMinWidth(): number | null { + return this.raw.autostepMinWidth() ?? null; + } + + /** + * Can the character automatically step over dynamic bodies too? + */ + public autostepIncludesDynamicBodies(): boolean | null { + return this.raw.autostepIncludesDynamicBodies() ?? null; + } + + /** + * Is automatically stepping over small objects enabled? + */ + public autostepEnabled(): boolean { + return this.raw.autostepEnabled(); + } + + /** + * Enabled automatically stepping over small objects. + * + * @param maxHeight - The maximum step height a character can automatically step over. + * @param minWidth - The minimum width of free space that must be available after stepping on a stair. + * @param includeDynamicBodies - Can the character automatically step over dynamic bodies too? + */ + public enableAutostep(maxHeight: number, minWidth: number, includeDynamicBodies: boolean) { + this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies); + } + + /** + * Disable automatically stepping over small objects. + */ + public disableAutostep() { + return this.raw.disableAutostep(); + } + + /** + * The maximum angle (radians) between the floor’s normal and the `up` vector that the + * character is able to climb. + */ + public maxSlopeClimbAngle(): number { + return this.raw.maxSlopeClimbAngle(); + } + + /** + * Sets the maximum angle (radians) between the floor’s normal and the `up` vector that the + * character is able to climb. + */ + public setMaxSlopeClimbAngle(angle: number) { + this.raw.setMaxSlopeClimbAngle(angle); + } + + /** + * The minimum angle (radians) between the floor’s normal and the `up` vector before the + * character starts to slide down automatically. + */ + public minSlopeSlideAngle(): number { + return this.raw.minSlopeSlideAngle(); + } + + /** + * Sets the minimum angle (radians) between the floor’s normal and the `up` vector before the + * character starts to slide down automatically. + */ + public setMinSlopeSlideAngle(angle: number) { + this.raw.setMinSlopeSlideAngle(angle); + } + + /** + * If snap-to-ground is enabled, should the character be automatically snapped to the ground if + * the distance between the ground and its feet are smaller than the specified threshold? + */ + public snapToGroundDistance(): number | null { + return this.raw.snapToGroundDistance() ?? null; + } + + /** + * Enables automatically snapping the character to the ground if the distance between + * the ground and its feet are smaller than the specified threshold. + */ + public enableSnapToGround(distance: number) { + this.raw.enableSnapToGround(distance); + } + + /** + * Disables automatically snapping the character to the ground. + */ + public disableSnapToGround() { + this.raw.disableSnapToGround(); + } + + /** + * Is automatically snapping the character to the ground enabled? + */ + public snapToGroundEnabled(): boolean { + return this.raw.snapToGroundEnabled(); + } + + /** + * Computes the movement the given collider is able to execute after hitting and sliding on obstacles. + * + * @param collider - The collider to move. + * @param desiredTranslationDelta - The desired collider movement. + * @param filterFlags - Flags for excluding whole subsets of colliders from the obstacles taken into account. + * @param filterGroups - Groups for excluding colliders with incompatible collision groups from the obstacles + * taken into account. + * @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the + * obstacles taken into account. + */ + public computeColliderMovement( + collider: Collider, + desiredTranslationDelta: Vector, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterPredicate?: (collider: Collider) => boolean, + ) { + let rawTranslationDelta = VectorOps.intoRaw(desiredTranslationDelta); + this.raw.computeColliderMovement( + this.params.dt, + this.broadPhase.raw, + this.narrowPhase.raw, + this.bodies.raw, + this.colliders.raw, + collider.handle, + rawTranslationDelta, + this._applyImpulsesToDynamicBodies, + this._characterMass, + filterFlags ?? 0, + filterGroups, + this.colliders.castClosure(filterPredicate) as unknown as Function, + ); + rawTranslationDelta.free(); + } + + /** + * The movement computed by the last call to `this.computeColliderMovement`. + */ + public computedMovement(): Vector { + return VectorOps.fromRaw(this.raw.computedMovement())!; + } + + /** + * The result of ground detection computed by the last call to `this.computeColliderMovement`. + */ + public computedGrounded(): boolean { + return this.raw.computedGrounded(); + } + + /** + * The number of collisions against obstacles detected along the path of the last call + * to `this.computeColliderMovement`. + */ + public numComputedCollisions(): number { + return this.raw.numComputedCollisions(); + } + + /** + * Returns the collision against one of the obstacles detected along the path of the last + * call to `this.computeColliderMovement`. + * + * @param i - The i-th collision will be returned. + * @param out - If this argument is set, it will be filled with the collision information. + */ + public computedCollision(i: number, out?: CharacterCollision): CharacterCollision | null { + if (!this.raw.computedCollision(i, this.rawCharacterCollision)) { + return null; + } else { + let c = this.rawCharacterCollision; + out = out ?? new CharacterCollision(); + out.translationDeltaApplied = VectorOps.fromRaw(c.translationDeltaApplied())!; + out.translationDeltaRemaining = VectorOps.fromRaw(c.translationDeltaRemaining())!; + out.toi = c.toi(); + out.witness1 = VectorOps.fromRaw(c.worldWitness1())!; + out.witness2 = VectorOps.fromRaw(c.worldWitness2())!; + out.normal1 = VectorOps.fromRaw(c.worldNormal1())!; + out.normal2 = VectorOps.fromRaw(c.worldNormal2())!; + out.collider = this.colliders.get(c.handle()); + return out; + } + } +} diff --git a/src.ts/control/index.ts b/packages/rapier-3d/src/control/index.ts similarity index 84% rename from src.ts/control/index.ts rename to packages/rapier-3d/src/control/index.ts index 43e495a5..54df6d0f 100644 --- a/src.ts/control/index.ts +++ b/packages/rapier-3d/src/control/index.ts @@ -1,6 +1,4 @@ export * from "./character_controller"; export * from "./pid_controller"; -// #if DIM3 export * from "./ray_cast_vehicle_controller"; -// #endif diff --git a/src.ts/control/pid_controller.ts b/packages/rapier-3d/src/control/pid_controller.ts similarity index 69% rename from src.ts/control/pid_controller.ts rename to packages/rapier-3d/src/control/pid_controller.ts index 52b2f006..76753c27 100644 --- a/src.ts/control/pid_controller.ts +++ b/packages/rapier-3d/src/control/pid_controller.ts @@ -1,8 +1,6 @@ -import {RawPidController} from "../raw"; -import {Rotation, RotationOps, Vector, VectorOps} from "../math"; -import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry"; -import {QueryFilterFlags, World} from "../pipeline"; import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics"; +import {Rotation, RotationOps, Vector, VectorOps} from "../math"; +import {RawPidController} from "../raw"; // TODO: unify with the JointAxesMask /** @@ -25,19 +23,11 @@ export enum PidAxesMask { LinX = 1 << 0, LinY = 1 << 1, LinZ = 1 << 2, - // #if DIM3 AngX = 1 << 3, AngY = 1 << 4, - // #endif AngZ = 1 << 5, - // #if DIM2 - AllLin = PidAxesMask.LinX | PidAxesMask.LinY, - AllAng = PidAxesMask.AngZ, - // #endif - // #if DIM3 AllLin = PidAxesMask.LinX | PidAxesMask.LinY | PidAxesMask.LinZ, AllAng = PidAxesMask.AngX | PidAxesMask.AngY | PidAxesMask.AngZ, - // #endif All = PidAxesMask.AllLin | PidAxesMask.AllAng, } @@ -70,7 +60,7 @@ export class PidController { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } public setKp(kp: number, axes: PidAxesMask) { @@ -93,11 +83,7 @@ export class PidController { this.raw.reset_integrals(); } - public applyLinearCorrection( - body: RigidBody, - targetPosition: Vector, - targetLinvel: Vector, - ) { + public applyLinearCorrection(body: RigidBody, targetPosition: Vector, targetLinvel: Vector) { let rawPos = VectorOps.intoRaw(targetPosition); let rawVel = VectorOps.intoRaw(targetLinvel); this.raw.apply_linear_correction( @@ -111,28 +97,7 @@ export class PidController { rawVel.free(); } - // #if DIM2 - public applyAngularCorrection( - body: RigidBody, - targetRotation: number, - targetAngVel: number, - ) { - this.raw.apply_angular_correction( - this.params.dt, - this.bodies.raw, - body.handle, - targetRotation, - targetAngVel, - ); - } - // #endif - - // #if DIM3 - public applyAngularCorrection( - body: RigidBody, - targetRotation: Rotation, - targetAngVel: Vector, - ) { + public applyAngularCorrection(body: RigidBody, targetRotation: Rotation, targetAngVel: Vector) { let rawPos = RotationOps.intoRaw(targetRotation); let rawVel = VectorOps.intoRaw(targetAngVel); this.raw.apply_angular_correction( @@ -145,13 +110,8 @@ export class PidController { rawPos.free(); rawVel.free(); } - // #endif - public linearCorrection( - body: RigidBody, - targetPosition: Vector, - targetLinvel: Vector, - ): Vector { + public linearCorrection(body: RigidBody, targetPosition: Vector, targetLinvel: Vector): Vector { let rawPos = VectorOps.intoRaw(targetPosition); let rawVel = VectorOps.intoRaw(targetLinvel); let correction = this.raw.linear_correction( @@ -164,26 +124,9 @@ export class PidController { rawPos.free(); rawVel.free(); - return VectorOps.fromRaw(correction); - } - - // #if DIM2 - public angularCorrection( - body: RigidBody, - targetRotation: number, - targetAngVel: number, - ): number { - return this.raw.angular_correction( - this.params.dt, - this.bodies.raw, - body.handle, - targetRotation, - targetAngVel, - ); + return VectorOps.fromRaw(correction)!; } - // #endif - // #if DIM3 public angularCorrection( body: RigidBody, targetRotation: Rotation, @@ -201,7 +144,6 @@ export class PidController { rawPos.free(); rawVel.free(); - return VectorOps.fromRaw(correction); + return VectorOps.fromRaw(correction)!; } - // #endif } diff --git a/src.ts/control/ray_cast_vehicle_controller.ts b/packages/rapier-3d/src/control/ray_cast_vehicle_controller.ts similarity index 90% rename from src.ts/control/ray_cast_vehicle_controller.ts rename to packages/rapier-3d/src/control/ray_cast_vehicle_controller.ts index fa65b3e3..60db9919 100644 --- a/src.ts/control/ray_cast_vehicle_controller.ts +++ b/packages/rapier-3d/src/control/ray_cast_vehicle_controller.ts @@ -1,14 +1,8 @@ -import {RawDynamicRayCastVehicleController} from "../raw"; +import {RigidBody, RigidBodySet} from "../dynamics"; +import {BroadPhase, Collider, ColliderSet, InteractionGroups, NarrowPhase} from "../geometry"; import {Vector, VectorOps} from "../math"; -import { - BroadPhase, - Collider, - ColliderSet, - InteractionGroups, - NarrowPhase, -} from "../geometry"; import {QueryFilterFlags} from "../pipeline"; -import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics"; +import {RawDynamicRayCastVehicleController} from "../raw"; /** * A character controller to simulate vehicles using ray-casting for the wheels. @@ -42,7 +36,7 @@ export class DynamicRayCastVehicleController { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } /** @@ -67,9 +61,9 @@ export class DynamicRayCastVehicleController { this.narrowPhase.raw, this.bodies.raw, this.colliders.raw, - filterFlags, + filterFlags ?? 0, filterGroups, - this.colliders.castClosure(filterPredicate), + this.colliders.castClosure(filterPredicate) as unknown as Function, ); } @@ -167,7 +161,7 @@ export class DynamicRayCastVehicleController { * The position of the i-th wheel, relative to the chassis. */ public wheelChassisConnectionPointCs(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i)); + return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i)!); } /** @@ -183,7 +177,7 @@ export class DynamicRayCastVehicleController { * The rest length of the i-th wheel’s suspension spring. */ public wheelSuspensionRestLength(i: number): number | null { - return this.raw.wheel_suspension_rest_length(i); + return this.raw.wheel_suspension_rest_length(i) ?? null; } /** @@ -197,7 +191,7 @@ export class DynamicRayCastVehicleController { * The maximum distance the i-th wheel suspension can travel before and after its resting length. */ public wheelMaxSuspensionTravel(i: number): number | null { - return this.raw.wheel_max_suspension_travel(i); + return this.raw.wheel_max_suspension_travel(i) ?? null; } /** @@ -211,7 +205,7 @@ export class DynamicRayCastVehicleController { * The i-th wheel’s radius. */ public wheelRadius(i: number): number | null { - return this.raw.wheel_radius(i); + return this.raw.wheel_radius(i) ?? null; } /** @@ -227,7 +221,7 @@ export class DynamicRayCastVehicleController { * Increase this value if the suspension appears to not push the vehicle strong enough. */ public wheelSuspensionStiffness(i: number): number | null { - return this.raw.wheel_suspension_stiffness(i); + return this.raw.wheel_suspension_stiffness(i) ?? null; } /** @@ -243,7 +237,7 @@ export class DynamicRayCastVehicleController { * The i-th wheel’s suspension’s damping when it is being compressed. */ public wheelSuspensionCompression(i: number): number | null { - return this.raw.wheel_suspension_compression(i); + return this.raw.wheel_suspension_compression(i) ?? null; } /** @@ -259,7 +253,7 @@ export class DynamicRayCastVehicleController { * Increase this value if the suspension appears to overshoot. */ public wheelSuspensionRelaxation(i: number): number | null { - return this.raw.wheel_suspension_relaxation(i); + return this.raw.wheel_suspension_relaxation(i) ?? null; } /** @@ -275,7 +269,7 @@ export class DynamicRayCastVehicleController { * The maximum force applied by the i-th wheel’s suspension. */ public wheelMaxSuspensionForce(i: number): number | null { - return this.raw.wheel_max_suspension_force(i); + return this.raw.wheel_max_suspension_force(i) ?? null; } /** @@ -289,7 +283,7 @@ export class DynamicRayCastVehicleController { * The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle. */ public wheelBrake(i: number): number | null { - return this.raw.wheel_brake(i); + return this.raw.wheel_brake(i) ?? null; } /** @@ -303,7 +297,7 @@ export class DynamicRayCastVehicleController { * The steering angle (radians) for the i-th wheel. */ public wheelSteering(i: number): number | null { - return this.raw.wheel_steering(i); + return this.raw.wheel_steering(i) ?? null; } /** @@ -317,7 +311,7 @@ export class DynamicRayCastVehicleController { * The forward force applied by the i-th wheel on the chassis. */ public wheelEngineForce(i: number): number | null { - return this.raw.wheel_engine_force(i); + return this.raw.wheel_engine_force(i) ?? null; } /** @@ -333,7 +327,7 @@ export class DynamicRayCastVehicleController { * The ray-casting will happen following this direction to detect the ground. */ public wheelDirectionCs(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.wheel_direction_cs(i)); + return VectorOps.fromRaw(this.raw.wheel_direction_cs(i)!); } /** @@ -353,7 +347,7 @@ export class DynamicRayCastVehicleController { * The axis index defined as 0 = X, 1 = Y, 2 = Z. */ public wheelAxleCs(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.wheel_axle_cs(i)); + return VectorOps.fromRaw(this.raw.wheel_axle_cs(i)!); } /** @@ -374,7 +368,7 @@ export class DynamicRayCastVehicleController { * causing the vehicle to flip if it’s too strong). */ public wheelFrictionSlip(i: number): number | null { - return this.raw.wheel_friction_slip(i); + return this.raw.wheel_friction_slip(i) ?? null; } /** @@ -393,7 +387,7 @@ export class DynamicRayCastVehicleController { * The larger the value, the stronger side friction will be. */ public wheelSideFrictionStiffness(i: number): number | null { - return this.raw.wheel_side_friction_stiffness(i); + return this.raw.wheel_side_friction_stiffness(i) ?? null; } /** @@ -413,56 +407,56 @@ export class DynamicRayCastVehicleController { * The i-th wheel’s current rotation angle (radians) on its axle. */ public wheelRotation(i: number): number | null { - return this.raw.wheel_rotation(i); + return this.raw.wheel_rotation(i) ?? null; } /** * The forward impulses applied by the i-th wheel on the chassis. */ public wheelForwardImpulse(i: number): number | null { - return this.raw.wheel_forward_impulse(i); + return this.raw.wheel_forward_impulse(i) ?? null; } /** * The side impulses applied by the i-th wheel on the chassis. */ public wheelSideImpulse(i: number): number | null { - return this.raw.wheel_side_impulse(i); + return this.raw.wheel_side_impulse(i) ?? null; } /** * The force applied by the i-th wheel suspension. */ public wheelSuspensionForce(i: number): number | null { - return this.raw.wheel_suspension_force(i); + return this.raw.wheel_suspension_force(i) ?? null; } /** * The (world-space) contact normal between the i-th wheel and the floor. */ public wheelContactNormal(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i)); + return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i)!); } /** * The (world-space) point hit by the wheel’s ray-cast for the i-th wheel. */ public wheelContactPoint(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i)); + return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i)!); } /** * The suspension length for the i-th wheel. */ public wheelSuspensionLength(i: number): number | null { - return this.raw.wheel_suspension_length(i); + return this.raw.wheel_suspension_length(i) ?? null; } /** * The (world-space) starting point of the ray-cast for the i-th wheel. */ public wheelHardPoint(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i)); + return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i)!); } /** @@ -476,6 +470,6 @@ export class DynamicRayCastVehicleController { * The collider hit by the ray-cast for the i-th wheel. */ public wheelGroundObject(i: number): Collider | null { - return this.colliders.get(this.raw.wheel_ground_object(i)); + return this.colliders.get(this.raw.wheel_ground_object(i)!); } } diff --git a/packages/rapier-3d/src/dynamics/ccd_solver.ts b/packages/rapier-3d/src/dynamics/ccd_solver.ts new file mode 100644 index 00000000..a0de715f --- /dev/null +++ b/packages/rapier-3d/src/dynamics/ccd_solver.ts @@ -0,0 +1,25 @@ +import {RawCCDSolver} from "../raw"; + +/** + * The CCD solver responsible for resolving Continuous Collision Detection. + * + * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()` + * once you are done using it. + */ +export class CCDSolver { + raw: RawCCDSolver; + + /** + * Release the WASM memory occupied by this narrow-phase. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + constructor(raw?: RawCCDSolver) { + this.raw = raw || new RawCCDSolver(); + } +} diff --git a/packages/rapier-3d/src/dynamics/coefficient_combine_rule.ts b/packages/rapier-3d/src/dynamics/coefficient_combine_rule.ts new file mode 100644 index 00000000..680b402a --- /dev/null +++ b/packages/rapier-3d/src/dynamics/coefficient_combine_rule.ts @@ -0,0 +1,13 @@ +/** + * A rule applied to combine coefficients. + * + * Use this when configuring the `ColliderDesc` to specify + * how friction and restitution coefficient should be combined + * in a contact. + */ +export enum CoefficientCombineRule { + Average = 0, + Min = 1, + Multiply = 2, + Max = 3, +} diff --git a/src.ts/dynamics/impulse_joint.ts b/packages/rapier-3d/src/dynamics/impulse_joint.ts similarity index 81% rename from src.ts/dynamics/impulse_joint.ts rename to packages/rapier-3d/src/dynamics/impulse_joint.ts index 0c637ddf..d91a62a4 100644 --- a/src.ts/dynamics/impulse_joint.ts +++ b/packages/rapier-3d/src/dynamics/impulse_joint.ts @@ -2,16 +2,12 @@ import {Rotation, Vector, VectorOps, RotationOps} from "../math"; import { RawGenericJoint, RawImpulseJointSet, - RawRigidBodySet, RawJointAxis, RawJointType, RawMotorModel, } from "../raw"; -import {RigidBody, RigidBodyHandle} from "./rigid_body"; +import {RigidBody} from "./rigid_body"; import {RigidBodySet} from "./rigid_body_set"; -// #if DIM3 -import {Quaternion} from "../math"; -// #endif /** * The integer identifier of a collider added to a `ColliderSet`. @@ -35,10 +31,8 @@ export enum JointType { Prismatic, Rope, Spring, - // #if DIM3 Spherical, Generic, - // #endif } export enum MotorModel { @@ -75,11 +69,7 @@ export class ImpulseJoint { protected bodySet: RigidBodySet; // The ImpulseJoint won’t need to free this. handle: ImpulseJointHandle; - constructor( - rawSet: RawImpulseJointSet, - bodySet: RigidBodySet, - handle: ImpulseJointHandle, - ) { + constructor(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: ImpulseJointHandle) { this.rawSet = rawSet; this.bodySet = bodySet; this.handle = handle; @@ -101,12 +91,10 @@ export class ImpulseJoint { return new SpringImpulseJoint(rawSet, bodySet, handle); case RawJointType.Rope: return new RopeImpulseJoint(rawSet, bodySet, handle); - // #if DIM3 case RawJointType.Spherical: return new SphericalImpulseJoint(rawSet, bodySet, handle); case RawJointType.Generic: return new GenericImpulseJoint(rawSet, bodySet, handle); - // #endif default: return new ImpulseJoint(rawSet, bodySet, handle); } @@ -129,14 +117,14 @@ export class ImpulseJoint { * The first rigid-body this joint it attached to. */ public body1(): RigidBody { - return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle)); + return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle))!; } /** * The second rigid-body this joint is attached to. */ public body2(): RigidBody { - return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle)); + return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle))!; } /** @@ -146,26 +134,20 @@ export class ImpulseJoint { return this.rawSet.jointType(this.handle) as number as JointType; } - // #if DIM3 /** * The rotation quaternion that aligns this joint's first local axis to the `x` axis. */ public frameX1(): Rotation { - return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle)); + return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle))!; } - // #endif - - // #if DIM3 /** * The rotation matrix that aligns this joint's second local axis to the `x` axis. */ public frameX2(): Rotation { - return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle)); + return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle))!; } - // #endif - /** * The position of the first anchor of this joint. * @@ -173,7 +155,7 @@ export class ImpulseJoint { * local frame of the first rigid-body it is attached to. */ public anchor1(): Vector { - return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle)); + return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle))!; } /** @@ -183,7 +165,7 @@ export class ImpulseJoint { * local frame of the second rigid-body it is attached to. */ public anchor2(): Vector { - return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle)); + return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle))!; } /** @@ -231,7 +213,9 @@ export class UnitImpulseJoint extends ImpulseJoint { /** * The axis left free by this joint. */ - protected rawAxis?(): RawJointAxis; + protected rawAxis(): RawJointAxis { + throw new Error("rawAxis must be implemented by subclasses"); + } /** * Are the limits enabled for this joint? @@ -273,19 +257,10 @@ export class UnitImpulseJoint extends ImpulseJoint { } public configureMotorVelocity(targetVel: number, factor: number) { - this.rawSet.jointConfigureMotorVelocity( - this.handle, - this.rawAxis(), - targetVel, - factor, - ); + this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor); } - public configureMotorPosition( - targetPos: number, - stiffness: number, - damping: number, - ) { + public configureMotorPosition(targetPos: number, stiffness: number, damping: number) { this.rawSet.jointConfigureMotorPosition( this.handle, this.rawAxis(), @@ -330,7 +305,6 @@ export class RevoluteImpulseJoint extends UnitImpulseJoint { } } -// #if DIM3 export class GenericImpulseJoint extends ImpulseJoint {} export class SphericalImpulseJoint extends ImpulseJoint { @@ -355,21 +329,20 @@ export class SphericalImpulseJoint extends ImpulseJoint { } */ } -// #endif export class JointData { - anchor1: Vector; - anchor2: Vector; - axis: Vector; - frame1: Rotation; - frame2: Rotation; - jointType: JointType; - limitsEnabled: boolean; - limits: Array; - axesMask: JointAxesMask; - stiffness: number; - damping: number; - length: number; + anchor1!: Vector; + anchor2!: Vector; + axis!: Vector; + frame1!: Rotation; + frame2!: Rotation; + jointType!: JointType; + limitsEnabled!: boolean; + limits!: Array; + axesMask!: JointAxesMask; + stiffness!: number; + damping!: number; + length!: number; private constructor() {} @@ -418,11 +391,7 @@ export class JointData { return res; } - public static rope( - length: number, - anchor1: Vector, - anchor2: Vector, - ): JointData { + public static rope(length: number, anchor1: Vector, anchor2: Vector): JointData { let res = new JointData(); res.anchor1 = anchor1; res.anchor2 = anchor2; @@ -431,56 +400,6 @@ export class JointData { return res; } - // #if DIM2 - - /** - * Create a new joint descriptor that builds revolute joints. - * - * A revolute joint allows three relative rotational degrees of freedom - * by preventing any relative translation between the anchors of the - * two attached rigid-bodies. - * - * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the - * local-space of the rigid-body. - * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the - * local-space of the rigid-body. - */ - public static revolute(anchor1: Vector, anchor2: Vector): JointData { - let res = new JointData(); - res.anchor1 = anchor1; - res.anchor2 = anchor2; - res.jointType = JointType.Revolute; - return res; - } - - /** - * Creates a new joint descriptor that builds a Prismatic joint. - * - * A prismatic joint removes all the degrees of freedom between the - * affected bodies, except for the translation along one axis. - * - * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the - * local-space of the rigid-body. - * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the - * local-space of the rigid-body. - * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to. - */ - public static prismatic( - anchor1: Vector, - anchor2: Vector, - axis: Vector, - ): JointData { - let res = new JointData(); - res.anchor1 = anchor1; - res.anchor2 = anchor2; - res.axis = axis; - res.jointType = JointType.Prismatic; - return res; - } - - // #endif - - // #if DIM3 /** * Create a new joint descriptor that builds generic joints. * @@ -543,11 +462,7 @@ export class JointData { * local-space of the rigid-body. * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to. */ - public static prismatic( - anchor1: Vector, - anchor2: Vector, - axis: Vector, - ): JointData { + public static prismatic(anchor1: Vector, anchor2: Vector, axis: Vector): JointData { let res = new JointData(); res.anchor1 = anchor1; res.anchor2 = anchor2; @@ -568,11 +483,7 @@ export class JointData { * local-space of the rigid-body. * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to. */ - public static revolute( - anchor1: Vector, - anchor2: Vector, - axis: Vector, - ): JointData { + public static revolute(anchor1: Vector, anchor2: Vector, axis: Vector): JointData { let res = new JointData(); res.anchor1 = anchor1; res.anchor2 = anchor2; @@ -580,7 +491,6 @@ export class JointData { res.jointType = JointType.Revolute; return res; } - // #endif public intoRaw(): RawGenericJoint { let rawA1 = VectorOps.intoRaw(this.anchor1); @@ -620,7 +530,6 @@ export class JointData { limitsMax = this.limits[1]; } - // #if DIM2 result = RawGenericJoint.prismatic( rawA1, rawA2, @@ -629,38 +538,15 @@ export class JointData { limitsMin, limitsMax, ); - // #endif - - // #if DIM3 - result = RawGenericJoint.prismatic( - rawA1, - rawA2, - rawAx, - limitsEnabled, - limitsMin, - limitsMax, - ); - // #endif rawAx.free(); break; - // #if DIM2 - case JointType.Revolute: - result = RawGenericJoint.revolute(rawA1, rawA2); - break; - // #endif - // #if DIM3 case JointType.Generic: rawAx = VectorOps.intoRaw(this.axis); // implicit type cast: axesMask is a JointAxesMask bitflag enum, // we're treating it as a u8 on the Rust side let rawAxesMask = this.axesMask; - result = RawGenericJoint.generic( - rawA1, - rawA2, - rawAx, - rawAxesMask, - ); + result = RawGenericJoint.generic(rawA1, rawA2, rawAx, rawAxesMask); break; case JointType.Spherical: result = RawGenericJoint.spherical(rawA1, rawA2); @@ -670,12 +556,11 @@ export class JointData { result = RawGenericJoint.revolute(rawA1, rawA2, rawAx); rawAx.free(); break; - // #endif } rawA1.free(); rawA2.free(); - return result; + return result!; } } diff --git a/packages/rapier-3d/src/dynamics/impulse_joint_set.ts b/packages/rapier-3d/src/dynamics/impulse_joint_set.ts new file mode 100644 index 00000000..6bd04dea --- /dev/null +++ b/packages/rapier-3d/src/dynamics/impulse_joint_set.ts @@ -0,0 +1,147 @@ +import {Coarena} from "../coarena"; +import {RawImpulseJointSet} from "../raw"; +import {ImpulseJoint, ImpulseJointHandle, JointData} from "./impulse_joint"; +import {RigidBodyHandle} from "./rigid_body"; +import {RigidBodySet} from "./rigid_body_set"; + +/** + * A set of joints. + * + * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()` + * once you are done using it (and all the joints it created). + */ +export class ImpulseJointSet { + raw: RawImpulseJointSet; + private map: Coarena; + + /** + * Release the WASM memory occupied by this joint set. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + + if (!!this.map) { + this.map.clear(); + } + this.map = undefined!; + } + + constructor(raw?: RawImpulseJointSet) { + this.raw = raw || new RawImpulseJointSet(); + this.map = new Coarena(); + // Initialize the map with the existing elements, if any. + if (raw) { + raw.forEachJointHandle((handle: ImpulseJointHandle) => { + this.map.set(handle, ImpulseJoint.newTyped(raw, null!, handle)); + }); + } + } + + /** @internal */ + public finalizeDeserialization(bodies: RigidBodySet) { + this.map.forEach((joint) => joint.finalizeDeserialization(bodies)); + } + + /** + * Creates a new joint and return its integer handle. + * + * @param bodies - The set of rigid-bodies containing the bodies the joint is attached to. + * @param desc - The joint's parameters. + * @param parent1 - The handle of the first rigid-body this joint is attached to. + * @param parent2 - The handle of the second rigid-body this joint is attached to. + * @param wakeUp - Should the attached rigid-bodies be awakened? + */ + public createJoint( + bodies: RigidBodySet, + desc: JointData, + parent1: RigidBodyHandle, + parent2: RigidBodyHandle, + wakeUp: boolean, + ): ImpulseJoint { + const rawParams = desc.intoRaw(); + const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp); + rawParams.free(); + let joint = ImpulseJoint.newTyped(this.raw, bodies, handle); + this.map.set(handle, joint); + return joint; + } + + /** + * Remove a joint from this set. + * + * @param handle - The integer handle of the joint. + * @param wakeUp - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically. + */ + public remove(handle: ImpulseJointHandle, wakeUp: boolean) { + this.raw.remove(handle, wakeUp); + this.unmap(handle); + } + + /** + * Calls the given closure with the integer handle of each impulse joint attached to this rigid-body. + * + * @param f - The closure called with the integer handle of each impulse joint attached to the rigid-body. + */ + public forEachJointHandleAttachedToRigidBody( + handle: RigidBodyHandle, + f: (handle: ImpulseJointHandle) => void, + ) { + this.raw.forEachJointAttachedToRigidBody(handle, f); + } + + /** + * Internal function, do not call directly. + * @param handle + */ + public unmap(handle: ImpulseJointHandle) { + this.map.delete(handle); + } + + /** + * The number of joints on this set. + */ + public len(): number { + return this.map.len(); + } + + /** + * Does this set contain a joint with the given handle? + * + * @param handle - The joint handle to check. + */ + public contains(handle: ImpulseJointHandle): boolean { + return this.get(handle) != null; + } + + /** + * Gets the joint with the given handle. + * + * Returns `null` if no joint with the specified handle exists. + * + * @param handle - The integer handle of the joint to retrieve. + */ + public get(handle: ImpulseJointHandle): ImpulseJoint | null { + return this.map.get(handle); + } + + /** + * Applies the given closure to each joint contained by this set. + * + * @param f - The closure to apply. + */ + public forEach(f: (joint: ImpulseJoint) => void) { + this.map.forEach(f); + } + + /** + * Gets all joints in the list. + * + * @returns joint list. + */ + public getAll(): ImpulseJoint[] { + return this.map.getAll(); + } +} diff --git a/packages/rapier-3d/src/dynamics/index.ts b/packages/rapier-3d/src/dynamics/index.ts new file mode 100644 index 00000000..4141658e --- /dev/null +++ b/packages/rapier-3d/src/dynamics/index.ts @@ -0,0 +1,10 @@ +export * from "./rigid_body"; +export * from "./rigid_body_set"; +export * from "./integration_parameters"; +export * from "./impulse_joint"; +export * from "./impulse_joint_set"; +export * from "./multibody_joint"; +export * from "./multibody_joint_set"; +export * from "./coefficient_combine_rule"; +export * from "./ccd_solver"; +export * from "./island_manager"; diff --git a/packages/rapier-3d/src/dynamics/integration_parameters.ts b/packages/rapier-3d/src/dynamics/integration_parameters.ts new file mode 100644 index 00000000..5c71e8a0 --- /dev/null +++ b/packages/rapier-3d/src/dynamics/integration_parameters.ts @@ -0,0 +1,126 @@ +import {RawIntegrationParameters} from "../raw"; + +export class IntegrationParameters { + raw: RawIntegrationParameters; + + constructor(raw?: RawIntegrationParameters) { + this.raw = raw || new RawIntegrationParameters(); + } + + /** + * Free the WASM memory used by these integration parameters. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + /** + * The timestep length (default: `1.0 / 60.0`) + */ + get dt(): number { + return this.raw.dt; + } + + /** + * The Error Reduction Parameter in `[0, 1]` is the proportion of + * the positional error to be corrected at each time step (default: `0.2`). + */ + get contact_erp(): number { + return this.raw.contact_erp; + } + + get lengthUnit(): number { + return this.raw.lengthUnit; + } + + /** + * Normalized amount of penetration the engine won’t attempt to correct (default: `0.001m`). + * + * This threshold considered by the physics engine is this value multiplied by the `lengthUnit`. + */ + get normalizedAllowedLinearError(): number { + return this.raw.normalizedAllowedLinearError; + } + + /** + * The maximal normalized distance separating two objects that will generate predictive contacts (default: `0.002`). + * + * This threshold considered by the physics engine is this value multiplied by the `lengthUnit`. + */ + get normalizedPredictionDistance(): number { + return this.raw.normalizedPredictionDistance; + } + + /** + * The number of solver iterations run by the constraints solver for calculating forces (default: `4`). + */ + get numSolverIterations(): number { + return this.raw.numSolverIterations; + } + + /** + * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`). + */ + get numInternalPgsIterations(): number { + return this.raw.numInternalPgsIterations; + } + + /** + * Minimum number of dynamic bodies in each active island (default: `128`). + */ + get minIslandSize(): number { + return this.raw.minIslandSize; + } + + /** + * Maximum number of substeps performed by the solver (default: `1`). + */ + get maxCcdSubsteps(): number { + return this.raw.maxCcdSubsteps; + } + + set dt(value: number) { + this.raw.dt = value; + } + + set contact_natural_frequency(value: number) { + this.raw.contact_natural_frequency = value; + } + + set lengthUnit(value: number) { + this.raw.lengthUnit = value; + } + + set normalizedAllowedLinearError(value: number) { + this.raw.normalizedAllowedLinearError = value; + } + + set normalizedPredictionDistance(value: number) { + this.raw.normalizedPredictionDistance = value; + } + + /** + * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`). + */ + set numSolverIterations(value: number) { + this.raw.numSolverIterations = value; + } + + /** + * Sets the number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`). + */ + set numInternalPgsIterations(value: number) { + this.raw.numInternalPgsIterations = value; + } + + set minIslandSize(value: number) { + this.raw.minIslandSize = value; + } + + set maxCcdSubsteps(value: number) { + this.raw.maxCcdSubsteps = value; + } +} diff --git a/packages/rapier-3d/src/dynamics/island_manager.ts b/packages/rapier-3d/src/dynamics/island_manager.ts new file mode 100644 index 00000000..c48c1727 --- /dev/null +++ b/packages/rapier-3d/src/dynamics/island_manager.ts @@ -0,0 +1,37 @@ +import {RawIslandManager} from "../raw"; +import {RigidBodyHandle} from "./rigid_body"; + +/** + * The CCD solver responsible for resolving Continuous Collision Detection. + * + * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()` + * once you are done using it. + */ +export class IslandManager { + raw: RawIslandManager; + + /** + * Release the WASM memory occupied by this narrow-phase. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + constructor(raw?: RawIslandManager) { + this.raw = raw || new RawIslandManager(); + } + + /** + * Applies the given closure to the handle of each active rigid-bodies contained by this set. + * + * A rigid-body is active if it is not sleeping, i.e., if it moved recently. + * + * @param f - The closure to apply. + */ + public forEachActiveRigidBodyHandle(f: (handle: RigidBodyHandle) => void) { + this.raw.forEachActiveRigidBodyHandle(f); + } +} diff --git a/src.ts/dynamics/multibody_joint.ts b/packages/rapier-3d/src/dynamics/multibody_joint.ts similarity index 91% rename from src.ts/dynamics/multibody_joint.ts rename to packages/rapier-3d/src/dynamics/multibody_joint.ts index 5608aec7..a524bbc6 100644 --- a/src.ts/dynamics/multibody_joint.ts +++ b/packages/rapier-3d/src/dynamics/multibody_joint.ts @@ -1,22 +1,4 @@ -import { - RawImpulseJointSet, - RawJointAxis, - RawJointType, - RawMultibodyJointSet, -} from "../raw"; -import { - FixedImpulseJoint, - ImpulseJointHandle, - JointType, - MotorModel, - PrismaticImpulseJoint, - RevoluteImpulseJoint, -} from "./impulse_joint"; - -// #if DIM3 -import {Quaternion} from "../math"; -import {SphericalImpulseJoint} from "./impulse_joint"; -// #endif +import {RawJointAxis, RawJointType, RawMultibodyJointSet} from "../raw"; /** * The integer identifier of a collider added to a `ColliderSet`. @@ -43,10 +25,8 @@ export class MultibodyJoint { return new PrismaticMultibodyJoint(rawSet, handle); case RawJointType.Fixed: return new FixedMultibodyJoint(rawSet, handle); - // #if DIM3 case RawJointType.Spherical: return new SphericalMultibodyJoint(rawSet, handle); - // #endif default: return new MultibodyJoint(rawSet, handle); } @@ -81,7 +61,6 @@ export class MultibodyJoint { // return this.rawSet.jointType(this.handle); // } // - // // #if DIM3 // /** // * The rotation quaternion that aligns this joint's first local axis to the `x` axis. // */ @@ -89,9 +68,7 @@ export class MultibodyJoint { // return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle)); // } // - // // #endif // - // // #if DIM3 // /** // * The rotation matrix that aligns this joint's second local axis to the `x` axis. // */ @@ -99,7 +76,6 @@ export class MultibodyJoint { // return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle)); // } // - // // #endif // // /** // * The position of the first anchor of this joint. @@ -142,7 +118,9 @@ export class UnitMultibodyJoint extends MultibodyJoint { /** * The axis left free by this joint. */ - protected rawAxis?(): RawJointAxis; + protected rawAxis(): RawJointAxis { + throw new Error("rawAxis must be implemented by subclasses"); + } // /** // * Are the limits enabled for this joint? @@ -196,7 +174,6 @@ export class RevoluteMultibodyJoint extends UnitMultibodyJoint { } } -// #if DIM3 export class SphericalMultibodyJoint extends MultibodyJoint { /* Unsupported by this alpha release. public configureMotorModel(model: MotorModel) { @@ -219,4 +196,3 @@ export class SphericalMultibodyJoint extends MultibodyJoint { } */ } -// #endif diff --git a/packages/rapier-3d/src/dynamics/multibody_joint_set.ts b/packages/rapier-3d/src/dynamics/multibody_joint_set.ts new file mode 100644 index 00000000..78840397 --- /dev/null +++ b/packages/rapier-3d/src/dynamics/multibody_joint_set.ts @@ -0,0 +1,140 @@ +import {Coarena} from "../coarena"; +import {RawMultibodyJointSet} from "../raw"; +import {JointData} from "./impulse_joint"; +import {MultibodyJoint, MultibodyJointHandle} from "./multibody_joint"; +import {RigidBodyHandle} from "./rigid_body"; + +/** + * A set of joints. + * + * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()` + * once you are done using it (and all the joints it created). + */ +export class MultibodyJointSet { + raw: RawMultibodyJointSet; + private map: Coarena; + + /** + * Release the WASM memory occupied by this joint set. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + + if (!!this.map) { + this.map.clear(); + } + this.map = undefined!; + } + + constructor(raw?: RawMultibodyJointSet) { + this.raw = raw || new RawMultibodyJointSet(); + this.map = new Coarena(); + // Initialize the map with the existing elements, if any. + if (raw) { + raw.forEachJointHandle((handle: MultibodyJointHandle) => { + this.map.set(handle, MultibodyJoint.newTyped(this.raw, handle)); + }); + } + } + + /** + * Creates a new joint and return its integer handle. + * + * @param desc - The joint's parameters. + * @param parent1 - The handle of the first rigid-body this joint is attached to. + * @param parent2 - The handle of the second rigid-body this joint is attached to. + * @param wakeUp - Should the attached rigid-bodies be awakened? + */ + public createJoint( + desc: JointData, + parent1: RigidBodyHandle, + parent2: RigidBodyHandle, + wakeUp: boolean, + ): MultibodyJoint { + const rawParams = desc.intoRaw(); + const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp); + rawParams.free(); + let joint = MultibodyJoint.newTyped(this.raw, handle); + this.map.set(handle, joint); + return joint; + } + + /** + * Remove a joint from this set. + * + * @param handle - The integer handle of the joint. + * @param wake_up - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically. + */ + public remove(handle: MultibodyJointHandle, wake_up: boolean) { + this.raw.remove(handle, wake_up); + this.map.delete(handle); + } + + /** + * Internal function, do not call directly. + * @param handle + */ + public unmap(handle: MultibodyJointHandle) { + this.map.delete(handle); + } + + /** + * The number of joints on this set. + */ + public len(): number { + return this.map.len(); + } + + /** + * Does this set contain a joint with the given handle? + * + * @param handle - The joint handle to check. + */ + public contains(handle: MultibodyJointHandle): boolean { + return this.get(handle) != null; + } + + /** + * Gets the joint with the given handle. + * + * Returns `null` if no joint with the specified handle exists. + * + * @param handle - The integer handle of the joint to retrieve. + */ + public get(handle: MultibodyJointHandle): MultibodyJoint | null { + return this.map.get(handle); + } + + /** + * Applies the given closure to each joint contained by this set. + * + * @param f - The closure to apply. + */ + public forEach(f: (joint: MultibodyJoint) => void) { + this.map.forEach(f); + } + + /** + * Calls the given closure with the integer handle of each multibody joint attached to this rigid-body. + * + * @param f - The closure called with the integer handle of each multibody joint attached to the rigid-body. + */ + public forEachJointHandleAttachedToRigidBody( + handle: RigidBodyHandle, + f: (handle: MultibodyJointHandle) => void, + ) { + this.raw.forEachJointAttachedToRigidBody(handle, f); + } + + /** + * Gets all joints in the list. + * + * @returns joint list. + */ + public getAll(): MultibodyJoint[] { + return this.map.getAll(); + } +} diff --git a/src.ts/dynamics/rigid_body.ts b/packages/rapier-3d/src/dynamics/rigid_body.ts similarity index 73% rename from src.ts/dynamics/rigid_body.ts rename to packages/rapier-3d/src/dynamics/rigid_body.ts index 8f52dbe5..4cc24a50 100644 --- a/src.ts/dynamics/rigid_body.ts +++ b/packages/rapier-3d/src/dynamics/rigid_body.ts @@ -1,9 +1,7 @@ -import {RawRigidBodySet, RawRigidBodyType} from "../raw"; +import {Collider, ColliderSet} from "../geometry"; import {Rotation, RotationOps, Vector, VectorOps} from "../math"; -// #if DIM3 import {SdpMatrix3, SdpMatrix3Ops} from "../math"; -// #endif -import {Collider, ColliderSet} from "../geometry"; +import {RawRigidBodySet, RawRigidBodyType} from "../raw"; /** * The integer identifier of a collider added to a `ColliderSet`. @@ -50,20 +48,18 @@ export class RigidBody { private rawSet: RawRigidBodySet; // The RigidBody won't need to free this. private colliderSet: ColliderSet; readonly handle: RigidBodyHandle; + private scratchBuffer: Float32Array; /** * An arbitrary user-defined object associated with this rigid-body. */ public userData?: unknown; - constructor( - rawSet: RawRigidBodySet, - colliderSet: ColliderSet, - handle: RigidBodyHandle, - ) { + constructor(rawSet: RawRigidBodySet, colliderSet: ColliderSet, handle: RigidBodyHandle) { this.rawSet = rawSet; this.colliderSet = colliderSet; this.handle = handle; + this.scratchBuffer = new Float32Array(4); } /** @internal */ @@ -99,45 +95,6 @@ export class RigidBody { return this.rawSet.rbLockRotations(this.handle, locked, wakeUp); } - // #if DIM2 - /** - * Locks or unlocks the ability of this rigid-body to translation along individual coordinate axes. - * - * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis. - * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis. - * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep. - */ - public setEnabledTranslations( - enableX: boolean, - enableY: boolean, - wakeUp: boolean, - ) { - return this.rawSet.rbSetEnabledTranslations( - this.handle, - enableX, - enableY, - wakeUp, - ); - } - - /** - * Locks or unlocks the ability of this rigid-body to translation along individual coordinate axes. - * - * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis. - * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis. - * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep. - * @deprecated use `this.setEnabledTranslations` with the same arguments instead. - */ - public restrictTranslations( - enableX: boolean, - enableY: boolean, - wakeUp: boolean, - ) { - this.setEnabledTranslations(enableX, enableX, wakeUp); - } - - // #endif - // #if DIM3 /** * Locks or unlocks the ability of this rigid-body to translate along individual coordinate axes. * @@ -152,13 +109,7 @@ export class RigidBody { enableZ: boolean, wakeUp: boolean, ) { - return this.rawSet.rbSetEnabledTranslations( - this.handle, - enableX, - enableY, - enableZ, - wakeUp, - ); + return this.rawSet.rbSetEnabledTranslations(this.handle, enableX, enableY, enableZ, wakeUp); } /** @@ -193,13 +144,7 @@ export class RigidBody { enableZ: boolean, wakeUp: boolean, ) { - return this.rawSet.rbSetEnabledRotations( - this.handle, - enableX, - enableY, - enableZ, - wakeUp, - ); + return this.rawSet.rbSetEnabledRotations(this.handle, enableX, enableY, enableZ, wakeUp); } /** @@ -220,8 +165,6 @@ export class RigidBody { this.setEnabledRotations(enableX, enableY, enableZ, wakeUp); } - // #endif - /** * The dominance group, in [-127, +127] this rigid-body is part of. */ @@ -293,18 +236,22 @@ export class RigidBody { /** * The world-space translation of this rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public translation(): Vector { - let res = this.rawSet.rbTranslation(this.handle); - return VectorOps.fromRaw(res); + public translation(target?: Vector): Vector { + this.rawSet.rbTranslation(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } /** * The world-space orientation of this rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public rotation(): Rotation { - let res = this.rawSet.rbRotation(this.handle); - return RotationOps.fromRaw(res); + public rotation(target?: Rotation): Rotation { + this.rawSet.rbRotation(this.handle, this.scratchBuffer); + return RotationOps.fromBuffer(this.scratchBuffer, target); } /** @@ -313,10 +260,12 @@ export class RigidBody { * If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation` * method and is used for estimating the kinematic body velocity at the next timestep. * For non-kinematic bodies, this value is currently unspecified. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public nextTranslation(): Vector { - let res = this.rawSet.rbNextTranslation(this.handle); - return VectorOps.fromRaw(res); + public nextTranslation(target?: Vector): Vector { + this.rawSet.rbNextTranslation(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } /** @@ -325,10 +274,12 @@ export class RigidBody { * If this rigid-body is kinematic this value is set by the `setNextKinematicRotation` * method and is used for estimating the kinematic body velocity at the next timestep. * For non-kinematic bodies, this value is currently unspecified. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public nextRotation(): Rotation { - let res = this.rawSet.rbNextRotation(this.handle); - return RotationOps.fromRaw(res); + public nextRotation(target?: Rotation): Rotation { + this.rawSet.rbNextRotation(this.handle, this.scratchBuffer); + return RotationOps.fromBuffer(this.scratchBuffer, target); } /** @@ -339,12 +290,7 @@ export class RigidBody { * wasn't moving before modifying its position. */ public setTranslation(tra: Vector, wakeUp: boolean) { - // #if DIM2 - this.rawSet.rbSetTranslation(this.handle, tra.x, tra.y, wakeUp); - // #endif - // #if DIM3 this.rawSet.rbSetTranslation(this.handle, tra.x, tra.y, tra.z, wakeUp); - // #endif } /** @@ -379,7 +325,6 @@ export class RigidBody { this.rawSet.rbSetGravityScale(this.handle, factor, wakeUp); } - // #if DIM3 /** * Sets the rotation quaternion of this rigid-body. * @@ -390,14 +335,7 @@ export class RigidBody { * wasn't moving before modifying its position. */ public setRotation(rot: Rotation, wakeUp: boolean) { - this.rawSet.rbSetRotation( - this.handle, - rot.x, - rot.y, - rot.z, - rot.w, - wakeUp, - ); + this.rawSet.rbSetRotation(this.handle, rot.x, rot.y, rot.z, rot.w, wakeUp); } /** @@ -412,32 +350,6 @@ export class RigidBody { rawVel.free(); } - // #endif - - // #if DIM2 - /** - * Sets the rotation angle of this rigid-body. - * - * @param angle - The rotation angle, in radians. - * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it - * wasn't moving before modifying its position. - */ - public setRotation(angle: number, wakeUp: boolean) { - this.rawSet.rbSetRotation(this.handle, angle, wakeUp); - } - - /** - * Sets the angular velocity fo this rigid-body. - * - * @param vel - The angular velocity to set. - * @param wakeUp - Forces the rigid-body to wake-up if it was asleep. - */ - public setAngvel(vel: number, wakeUp: boolean) { - this.rawSet.rbSetAngvel(this.handle, vel, wakeUp); - } - - // #endif - /** * If this rigid body is kinematic, sets its future translation after the next timestep integration. * @@ -450,15 +362,9 @@ export class RigidBody { * @param t - The kinematic translation to set. */ public setNextKinematicTranslation(t: Vector) { - // #if DIM2 - this.rawSet.rbSetNextKinematicTranslation(this.handle, t.x, t.y); - // #endif - // #if DIM3 this.rawSet.rbSetNextKinematicTranslation(this.handle, t.x, t.y, t.z); - // #endif } - // #if DIM3 /** * If this rigid body is kinematic, sets its future rotation after the next timestep integration. * @@ -471,40 +377,17 @@ export class RigidBody { * @param rot - The kinematic rotation to set. */ public setNextKinematicRotation(rot: Rotation) { - this.rawSet.rbSetNextKinematicRotation( - this.handle, - rot.x, - rot.y, - rot.z, - rot.w, - ); - } - - // #endif - - // #if DIM2 - /** - * If this rigid body is kinematic, sets its future rotation after the next timestep integration. - * - * This should be used instead of `rigidBody.setRotation` to make the dynamic object - * interacting with this kinematic body behave as expected. Internally, Rapier will compute - * an artificial velocity for this rigid-body from its current position and its next kinematic - * position. This velocity will be used to compute forces on dynamic bodies interacting with - * this body. - * - * @param angle - The kinematic rotation angle, in radians. - */ - public setNextKinematicRotation(angle: number) { - this.rawSet.rbSetNextKinematicRotation(this.handle, angle); + this.rawSet.rbSetNextKinematicRotation(this.handle, rot.x, rot.y, rot.z, rot.w); } - // #endif - /** * The linear velocity of this rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public linvel(): Vector { - return VectorOps.fromRaw(this.rawSet.rbLinvel(this.handle)); + public linvel(target?: Vector): Vector { + this.rawSet.rbLinvel(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } /** @@ -512,33 +395,21 @@ export class RigidBody { */ public velocityAtPoint(point: Vector): Vector { const rawPoint = VectorOps.intoRaw(point); - let result = VectorOps.fromRaw( - this.rawSet.rbVelocityAtPoint(this.handle, rawPoint), - ); + let result = VectorOps.fromRaw(this.rawSet.rbVelocityAtPoint(this.handle, rawPoint)); rawPoint.free(); - return result; + return result!; } - // #if DIM3 - /** - * The angular velocity of this rigid-body. - */ - public angvel(): Vector { - return VectorOps.fromRaw(this.rawSet.rbAngvel(this.handle)); - } - - // #endif - - // #if DIM2 /** * The angular velocity of this rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public angvel(): number { - return this.rawSet.rbAngvel(this.handle); + public angvel(target?: Vector): Vector { + this.rawSet.rbAngvel(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } - // #endif - /** * The mass of this rigid-body. */ @@ -550,7 +421,7 @@ export class RigidBody { * The inverse mass taking into account translation locking. */ public effectiveInvMass(): Vector { - return VectorOps.fromRaw(this.rawSet.rbEffectiveInvMass(this.handle)); + return VectorOps.fromRaw(this.rawSet.rbEffectiveInvMass(this.handle))!; } /** @@ -564,124 +435,63 @@ export class RigidBody { /** * The center of mass of a rigid-body expressed in its local-space. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public localCom(): Vector { - return VectorOps.fromRaw(this.rawSet.rbLocalCom(this.handle)); + public localCom(target?: Vector): Vector { + this.rawSet.rbLocalCom(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } /** * The world-space center of mass of the rigid-body. - */ - public worldCom(): Vector { - return VectorOps.fromRaw(this.rawSet.rbWorldCom(this.handle)); - } - - // #if DIM2 - /** - * The inverse of the principal angular inertia of the rigid-body. * - * Components set to zero are assumed to be infinite along the corresponding principal axis. + * @param target - Optional target object to write the result to (avoids allocation). */ - public invPrincipalInertia(): number { - return this.rawSet.rbInvPrincipalInertia(this.handle); + public worldCom(target?: Vector): Vector { + this.rawSet.rbWorldCom(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } - // #endif - - // #if DIM3 /** * The inverse of the principal angular inertia of the rigid-body. * * Components set to zero are assumed to be infinite along the corresponding principal axis. */ public invPrincipalInertia(): Vector { - return VectorOps.fromRaw( - this.rawSet.rbInvPrincipalInertia(this.handle), - ); + return VectorOps.fromRaw(this.rawSet.rbInvPrincipalInertia(this.handle))!; } - // #endif - - // #if DIM2 - /** - * The angular inertia along the principal inertia axes of the rigid-body. - */ - public principalInertia(): number { - return this.rawSet.rbPrincipalInertia(this.handle); - } - - // #endif - - // #if DIM3 /** * The angular inertia along the principal inertia axes of the rigid-body. */ public principalInertia(): Vector { - return VectorOps.fromRaw(this.rawSet.rbPrincipalInertia(this.handle)); + return VectorOps.fromRaw(this.rawSet.rbPrincipalInertia(this.handle))!; } - // #endif - - // #if DIM3 /** * The principal vectors of the local angular inertia tensor of the rigid-body. */ public principalInertiaLocalFrame(): Rotation { - return RotationOps.fromRaw( - this.rawSet.rbPrincipalInertiaLocalFrame(this.handle), - ); + return RotationOps.fromRaw(this.rawSet.rbPrincipalInertiaLocalFrame(this.handle))!; } - // #endif - - // #if DIM2 - /** - * The world-space inverse angular inertia tensor of the rigid-body, - * taking into account rotation locking. - */ - public effectiveWorldInvInertia(): number { - return this.rawSet.rbEffectiveWorldInvInertia(this.handle); - } - - // #endif - - // #if DIM3 /** * The world-space inverse angular inertia tensor of the rigid-body, * taking into account rotation locking. */ public effectiveWorldInvInertia(): SdpMatrix3 { - return SdpMatrix3Ops.fromRaw( - this.rawSet.rbEffectiveWorldInvInertia(this.handle), - ); + return SdpMatrix3Ops.fromRaw(this.rawSet.rbEffectiveWorldInvInertia(this.handle)); } - // #endif - - // #if DIM2 - /** - * The effective world-space angular inertia (that takes the potential rotation locking into account) of - * this rigid-body. - */ - public effectiveAngularInertia(): number { - return this.rawSet.rbEffectiveAngularInertia(this.handle); - } - - // #endif - - // #if DIM3 /** * The effective world-space angular inertia (that takes the potential rotation locking into account) of * this rigid-body. */ public effectiveAngularInertia(): SdpMatrix3 { - return SdpMatrix3Ops.fromRaw( - this.rawSet.rbEffectiveAngularInertia(this.handle), - ); + return SdpMatrix3Ops.fromRaw(this.rawSet.rbEffectiveAngularInertia(this.handle)); } - // #endif - /** * Put this rigid body to sleep. * @@ -727,7 +537,7 @@ export class RigidBody { * This index is **not** the same as the unique identifier of the collider. */ public collider(i: number): Collider { - return this.colliderSet.get(this.rawSet.rbCollider(this.handle, i)); + return this.colliderSet.get(this.rawSet.rbCollider(this.handle, i))!; } /** @@ -757,11 +567,7 @@ export class RigidBody { * Set a new status for this rigid-body: static, dynamic, or kinematic. */ public setBodyType(type: RigidBodyType, wakeUp: boolean) { - return this.rawSet.rbSetBodyType( - this.handle, - type as number as RawRigidBodyType, - wakeUp, - ); + return this.rawSet.rbSetBodyType(this.handle, type as number as RawRigidBodyType, wakeUp); } /** @@ -826,10 +632,7 @@ export class RigidBody { * Recompute the mass-properties of this rigid-bodies based on its currently attached colliders. */ public recomputeMassPropertiesFromColliders() { - this.rawSet.rbRecomputeMassPropertiesFromColliders( - this.handle, - this.colliderSet.raw, - ); + this.rawSet.rbRecomputeMassPropertiesFromColliders(this.handle, this.colliderSet.raw); } /** @@ -855,7 +658,6 @@ export class RigidBody { this.rawSet.rbSetAdditionalMass(this.handle, mass, wakeUp); } - // #if DIM3 /** * Sets the rigid-body's additional mass-properties. * @@ -897,44 +699,6 @@ export class RigidBody { rawInertiaFrame.free(); } - // #endif - - // #if DIM2 - /** - * Sets the rigid-body's additional mass-properties. - * - * This is only the "additional" mass-properties because the total mass-properties of the rigid-body is equal to the - * sum of this additional mass-properties and the mass computed from the colliders (with non-zero densities) attached - * to this rigid-body. - * - * That total mass-properties (which include the attached colliders’ contributions) will be updated at the name - * physics step, or can be updated manually with `this.recomputeMassPropertiesFromColliders`. - * - * This will override any previous mass-properties set by `this.setAdditionalMass`, - * `this.setAdditionalMassProperties`, `RigidBodyDesc.setAdditionalMass`, or `RigidBodyDesc.setAdditionalMassProperties` - * for this rigid-body. - * - * If `wake_up` is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while. - */ - public setAdditionalMassProperties( - mass: number, - centerOfMass: Vector, - principalAngularInertia: number, - wakeUp: boolean, - ) { - let rawCom = VectorOps.intoRaw(centerOfMass); - this.rawSet.rbSetAdditionalMassProperties( - this.handle, - mass, - rawCom, - principalAngularInertia, - wakeUp, - ); - rawCom.free(); - } - - // #endif - /** * Sets the linear damping factor applied to this rigid-body. * @@ -986,20 +750,6 @@ export class RigidBody { rawImpulse.free(); } - // #if DIM2 - /** - * Adds a torque at the center-of-mass of this rigid-body. - * - * @param torque - the torque to add to the rigid-body. - * @param wakeUp - should the rigid-body be automatically woken-up? - */ - public addTorque(torque: number, wakeUp: boolean) { - this.rawSet.rbAddTorque(this.handle, torque, wakeUp); - } - - // #endif - - // #if DIM3 /** * Adds a torque at the center-of-mass of this rigid-body. * @@ -1012,22 +762,6 @@ export class RigidBody { rawTorque.free(); } - // #endif - - // #if DIM2 - /** - * Applies an impulsive torque at the center-of-mass of this rigid-body. - * - * @param torqueImpulse - the torque impulse to apply on the rigid-body. - * @param wakeUp - should the rigid-body be automatically woken-up? - */ - public applyTorqueImpulse(torqueImpulse: number, wakeUp: boolean) { - this.rawSet.rbApplyTorqueImpulse(this.handle, torqueImpulse, wakeUp); - } - - // #endif - - // #if DIM3 /** * Applies an impulsive torque at the center-of-mass of this rigid-body. * @@ -1040,8 +774,6 @@ export class RigidBody { rawTorqueImpulse.free(); } - // #endif - /** * Adds a force at the given world-space point of this rigid-body. * @@ -1064,19 +796,10 @@ export class RigidBody { * @param point - the world-space point where the impulse is to be applied on the rigid-body. * @param wakeUp - should the rigid-body be automatically woken-up? */ - public applyImpulseAtPoint( - impulse: Vector, - point: Vector, - wakeUp: boolean, - ) { + public applyImpulseAtPoint(impulse: Vector, point: Vector, wakeUp: boolean) { const rawImpulse = VectorOps.intoRaw(impulse); const rawPoint = VectorOps.intoRaw(point); - this.rawSet.rbApplyImpulseAtPoint( - this.handle, - rawImpulse, - rawPoint, - wakeUp, - ); + this.rawSet.rbApplyImpulseAtPoint(this.handle, rawImpulse, rawPoint, wakeUp); rawImpulse.free(); rawPoint.free(); } @@ -1086,28 +809,16 @@ export class RigidBody { * Returns zero if the rigid-body is not dynamic. */ public userForce(): Vector { - return VectorOps.fromRaw(this.rawSet.rbUserForce(this.handle)); - } - - // #if DIM2 - /** - * Retrieves the constant torque(s) the user added to this rigid-body - * Returns zero if the rigid-body is not dynamic. - */ - public userTorque(): number { - return this.rawSet.rbUserTorque(this.handle); + return VectorOps.fromRaw(this.rawSet.rbUserForce(this.handle))!; } - // #endif - // #if DIM3 /** * Retrieves the constant torque(s) the user added to this rigid-body * Returns zero if the rigid-body is not dynamic. */ public userTorque(): Vector { - return VectorOps.fromRaw(this.rawSet.rbUserTorque(this.handle)); + return VectorOps.fromRaw(this.rawSet.rbUserTorque(this.handle))!; } - // #endif } export class RigidBodyDesc { @@ -1121,12 +832,6 @@ export class RigidBodyDesc { translationsEnabledX: boolean; translationsEnabledY: boolean; linvel: Vector; - // #if DIM2 - angvel: number; - principalAngularInertia: number; - rotationsEnabled: boolean; - // #endif - // #if DIM3 angvel: Vector; principalAngularInertia: Vector; angularInertiaLocalFrame: Rotation; @@ -1134,7 +839,6 @@ export class RigidBodyDesc { rotationsEnabledX: boolean; rotationsEnabledY: boolean; rotationsEnabledZ: boolean; - // #endif linearDamping: number; angularDamping: number; status: RigidBodyType; @@ -1158,12 +862,6 @@ export class RigidBodyDesc { this.centerOfMass = VectorOps.zeros(); this.translationsEnabledX = true; this.translationsEnabledY = true; - // #if DIM2 - this.angvel = 0.0; - this.principalAngularInertia = 0.0; - this.rotationsEnabled = true; - // #endif - // #if DIM3 this.angvel = VectorOps.zeros(); this.principalAngularInertia = VectorOps.zeros(); this.angularInertiaLocalFrame = RotationOps.identity(); @@ -1171,7 +869,6 @@ export class RigidBodyDesc { this.rotationsEnabledX = true; this.rotationsEnabledY = true; this.rotationsEnabledZ = true; - // #endif this.linearDamping = 0.0; this.angularDamping = 0.0; this.canSleep = true; @@ -1276,52 +973,26 @@ export class RigidBodyDesc { return this; } - // #if DIM2 - /** - * Sets the initial translation of the rigid-body to create. - */ - public setTranslation(x: number, y: number): RigidBodyDesc { - if (typeof x != "number" || typeof y != "number") - throw TypeError("The translation components must be numbers."); - - this.translation = {x: x, y: y}; - return this; - } - - // #endif - - // #if DIM3 /** * Sets the initial translation of the rigid-body to create. * * @param tra - The translation to set. */ public setTranslation(x: number, y: number, z: number): RigidBodyDesc { - if ( - typeof x != "number" || - typeof y != "number" || - typeof z != "number" - ) + 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 initial rotation of the rigid-body to create. * * @param rot - The rotation to set. */ public setRotation(rot: Rotation): RigidBodyDesc { - // #if DIM2 - this.rotation = rot; - // #endif - // #if DIM3 RotationOps.copy(this.rotation, rot); - // #endif return this; } @@ -1348,109 +1019,6 @@ export class RigidBodyDesc { return this; } - // #if DIM2 - /** - * Sets the initial linear velocity of the rigid-body to create. - * - * @param x - The linear velocity to set along the `x` axis. - * @param y - The linear velocity to set along the `y` axis. - */ - public setLinvel(x: number, y: number): RigidBodyDesc { - if (typeof x != "number" || typeof y != "number") - throw TypeError("The linvel components must be numbers."); - - this.linvel = {x: x, y: y}; - return this; - } - - /** - * Sets the initial angular velocity of the rigid-body to create. - * - * @param vel - The angular velocity to set. - */ - public setAngvel(vel: number): RigidBodyDesc { - this.angvel = vel; - return this; - } - - /** - * Sets the mass properties of the rigid-body being built. - * - * Note that the final mass properties of the rigid-bodies depends - * on the initial mass-properties of the rigid-body (set by this method) - * to which is added the contributions of all the colliders with non-zero density - * attached to this rigid-body. - * - * Therefore, if you want your provided mass properties to be the final - * mass properties of your rigid-body, don't attach colliders to it, or - * only attach colliders with densities equal to zero. - * - * @param mass − The initial mass of the rigid-body to create. - * @param centerOfMass − The initial center-of-mass of the rigid-body to create. - * @param principalAngularInertia − The initial principal angular inertia of the rigid-body to create. - */ - public setAdditionalMassProperties( - mass: number, - centerOfMass: Vector, - principalAngularInertia: number, - ): RigidBodyDesc { - this.mass = mass; - VectorOps.copy(this.centerOfMass, centerOfMass); - this.principalAngularInertia = principalAngularInertia; - this.massOnly = false; - return this; - } - - /** - * Allow translation of this rigid-body only along specific axes. - * @param translationsEnabledX - Are translations along the X axis enabled? - * @param translationsEnabledY - Are translations along the y axis enabled? - */ - public enabledTranslations( - translationsEnabledX: boolean, - translationsEnabledY: boolean, - ): RigidBodyDesc { - this.translationsEnabledX = translationsEnabledX; - this.translationsEnabledY = translationsEnabledY; - return this; - } - - /** - * Allow translation of this rigid-body only along specific axes. - * @param translationsEnabledX - Are translations along the X axis enabled? - * @param translationsEnabledY - Are translations along the y axis enabled? - * @deprecated use `this.enabledTranslations` with the same arguments instead. - */ - public restrictTranslations( - translationsEnabledX: boolean, - translationsEnabledY: boolean, - ): RigidBodyDesc { - return this.enabledTranslations( - translationsEnabledX, - translationsEnabledY, - ); - } - - /** - * Locks all translations that would have resulted from forces on - * the created rigid-body. - */ - public lockTranslations(): RigidBodyDesc { - return this.restrictTranslations(false, false); - } - - /** - * Locks all rotations that would have resulted from forces on - * the created rigid-body. - */ - public lockRotations(): RigidBodyDesc { - this.rotationsEnabled = false; - return this; - } - - // #endif - - // #if DIM3 /** * Sets the initial linear velocity of the rigid-body to create. * @@ -1459,11 +1027,7 @@ export class RigidBodyDesc { * @param z - The linear velocity to set along the `z` axis. */ public setLinvel(x: number, y: number, z: number): RigidBodyDesc { - if ( - typeof x != "number" || - typeof y != "number" || - typeof z != "number" - ) + if (typeof x != "number" || typeof y != "number" || typeof z != "number") throw TypeError("The linvel components must be numbers."); this.linvel = {x: x, y: y, z: z}; @@ -1508,10 +1072,7 @@ export class RigidBodyDesc { this.mass = mass; VectorOps.copy(this.centerOfMass, centerOfMass); VectorOps.copy(this.principalAngularInertia, principalAngularInertia); - RotationOps.copy( - this.angularInertiaLocalFrame, - angularInertiaLocalFrame, - ); + RotationOps.copy(this.angularInertiaLocalFrame, angularInertiaLocalFrame); this.massOnly = false; return this; } @@ -1589,11 +1150,7 @@ export class RigidBodyDesc { rotationsEnabledY: boolean, rotationsEnabledZ: boolean, ): RigidBodyDesc { - return this.enabledRotations( - rotationsEnabledX, - rotationsEnabledY, - rotationsEnabledZ, - ); + return this.enabledRotations(rotationsEnabledX, rotationsEnabledY, rotationsEnabledZ); } /** @@ -1604,8 +1161,6 @@ export class RigidBodyDesc { return this.restrictRotations(false, false, false); } - // #endif - /** * Sets the linear damping of the rigid-body to create. * diff --git a/src.ts/dynamics/rigid_body_set.ts b/packages/rapier-3d/src/dynamics/rigid_body_set.ts similarity index 80% rename from src.ts/dynamics/rigid_body_set.ts rename to packages/rapier-3d/src/dynamics/rigid_body_set.ts index 4c2e47bd..f906b60e 100644 --- a/src.ts/dynamics/rigid_body_set.ts +++ b/packages/rapier-3d/src/dynamics/rigid_body_set.ts @@ -1,16 +1,11 @@ -import {RawRigidBodySet, RawRigidBodyType} from "../raw"; import {Coarena} from "../coarena"; -import {VectorOps, RotationOps} from "../math"; -import { - RigidBody, - RigidBodyDesc, - RigidBodyHandle, - RigidBodyType, -} from "./rigid_body"; import {ColliderSet} from "../geometry"; +import {VectorOps, RotationOps} from "../math"; +import {RawRigidBodySet, RawRigidBodyType} from "../raw"; import {ImpulseJointSet} from "./impulse_joint_set"; -import {MultibodyJointSet} from "./multibody_joint_set"; import {IslandManager} from "./island_manager"; +import {MultibodyJointSet} from "./multibody_joint_set"; +import {RigidBody, RigidBodyDesc, RigidBodyHandle} from "./rigid_body"; /** * A set of rigid bodies that can be handled by a physics pipeline. @@ -29,12 +24,12 @@ export class RigidBodySet { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; if (!!this.map) { this.map.clear(); } - this.map = undefined; + this.map = undefined!; } constructor(raw?: RawRigidBodySet) { @@ -43,7 +38,7 @@ export class RigidBodySet { // deserialize if (raw) { raw.forEachRigidBodyHandle((handle: RigidBodyHandle) => { - this.map.set(handle, new RigidBody(raw, null, handle)); + this.map.set(handle, new RigidBody(raw, null!, handle)); }); } } @@ -60,24 +55,15 @@ export class RigidBodySet { * * @param desc - The description of the rigid-body to create. */ - public createRigidBody( - colliderSet: ColliderSet, - desc: RigidBodyDesc, - ): RigidBody { + public createRigidBody(colliderSet: ColliderSet, desc: RigidBodyDesc): RigidBody { let rawTra = VectorOps.intoRaw(desc.translation); let rawRot = RotationOps.intoRaw(desc.rotation); let rawLv = VectorOps.intoRaw(desc.linvel); let rawCom = VectorOps.intoRaw(desc.centerOfMass); - // #if DIM3 let rawAv = VectorOps.intoRaw(desc.angvel); - let rawPrincipalInertia = VectorOps.intoRaw( - desc.principalAngularInertia, - ); - let rawInertiaFrame = RotationOps.intoRaw( - desc.angularInertiaLocalFrame, - ); - // #endif + let rawPrincipalInertia = VectorOps.intoRaw(desc.principalAngularInertia); + let rawInertiaFrame = RotationOps.intoRaw(desc.angularInertiaLocalFrame); let handle = this.raw.createRigidBody( desc.enabled, @@ -88,14 +74,6 @@ export class RigidBodySet { desc.massOnly, rawCom, rawLv, - // #if DIM2 - desc.angvel, - desc.principalAngularInertia, - desc.translationsEnabledX, - desc.translationsEnabledY, - desc.rotationsEnabled, - // #endif - // #if DIM3 rawAv, rawPrincipalInertia, rawInertiaFrame, @@ -105,7 +83,6 @@ export class RigidBodySet { desc.rotationsEnabledX, desc.rotationsEnabledY, desc.rotationsEnabledZ, - // #endif desc.linearDamping, desc.angularDamping, desc.status as number as RawRigidBodyType, @@ -122,11 +99,9 @@ export class RigidBodySet { rawLv.free(); rawCom.free(); - // #if DIM3 rawAv.free(); rawPrincipalInertia.free(); rawInertiaFrame.free(); - // #endif const body = new RigidBody(this.raw, colliderSet, handle); body.userData = desc.userData; @@ -161,19 +136,12 @@ export class RigidBodySet { impulseJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) => impulseJoints.unmap(handle), ); - multibodyJoints.forEachJointHandleAttachedToRigidBody( - handle, - (handle) => multibodyJoints.unmap(handle), + multibodyJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) => + multibodyJoints.unmap(handle), ); // Remove the rigid-body. - this.raw.remove( - handle, - islands.raw, - colliders.raw, - impulseJoints.raw, - multibodyJoints.raw, - ); + this.raw.remove(handle, islands.raw, colliders.raw, impulseJoints.raw, multibodyJoints.raw); this.map.delete(handle); } @@ -218,12 +186,9 @@ export class RigidBodySet { * * @param f - The closure to apply. */ - public forEachActiveRigidBody( - islands: IslandManager, - f: (body: RigidBody) => void, - ) { + public forEachActiveRigidBody(islands: IslandManager, f: (body: RigidBody) => void) { islands.forEachActiveRigidBodyHandle((handle) => { - f(this.get(handle)); + f(this.get(handle)!); }); } diff --git a/packages/rapier-3d/src/exports.ts b/packages/rapier-3d/src/exports.ts new file mode 100644 index 00000000..46ca8d90 --- /dev/null +++ b/packages/rapier-3d/src/exports.ts @@ -0,0 +1,26 @@ +import {version as vers, reserve_memory as reserve} from "./raw"; + +export function version(): string { + return vers(); +} + +/// Reserves additional memory in WASM land. +/// +/// This will grow the internal WASM memory buffer so that it can fit at least +/// the specified amount of extra bytes. This can help reduce future runtime +/// overhead due to dynamic internal memory growth once the limit of the +/// pre-allocated memory is reached. +/// +/// This feature is still experimental. Due to the nature of the internal +/// allocator, there can be situations where the allocator decides to perform +/// additional internal memory growth even though not all `extraBytesCount` +/// are occupied yet. +export function reserveMemory(extraBytesCount: number) { + reserve(extraBytesCount); +} + +export * from "./math"; +export * from "./dynamics"; +export * from "./geometry"; +export * from "./pipeline"; +export * from "./control"; diff --git a/packages/rapier-3d/src/geometry/broad_phase.ts b/packages/rapier-3d/src/geometry/broad_phase.ts new file mode 100644 index 00000000..58cd911e --- /dev/null +++ b/packages/rapier-3d/src/geometry/broad_phase.ts @@ -0,0 +1,511 @@ +import {RigidBodyHandle, RigidBodySet} from "../dynamics"; +import {Rotation, RotationOps, Vector, VectorOps} from "../math"; +import {QueryFilterFlags} from "../pipeline"; +import {RawBroadPhase, RawRayColliderIntersection} from "../raw"; +import {ColliderHandle} from "./collider"; +import {ColliderSet} from "./collider_set"; +import {InteractionGroups} from "./interaction_groups"; +import {NarrowPhase} from "./narrow_phase"; +import {PointColliderProjection} from "./point"; +import {Ray, RayColliderHit, RayColliderIntersection} from "./ray"; +import {Shape} from "./shape"; +import {ColliderShapeCastHit} from "./toi"; + +/** + * The broad-phase used for coarse collision-detection. + * + * To avoid leaking WASM resources, this MUST be freed manually with `broadPhase.free()` + * once you are done using it. + */ +export class BroadPhase { + raw: RawBroadPhase; + + /** + * Release the WASM memory occupied by this broad-phase. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + constructor(raw?: RawBroadPhase) { + this.raw = raw || new RawBroadPhase(); + } + + /** + * Find the closest intersection between a ray and a set of collider. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @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. + * @param groups - Used to filter the colliders that can or cannot be hit by the ray. + * @param filter - The callback to filter out which collider will be hit. + */ + public castRay( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + ray: Ray, + maxToi: number, + solid: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ): RayColliderHit | null { + return RayColliderHit.fromRaw( + colliders, + this.raw.castRay( + narrowPhase.raw, + bodies.raw, + colliders.raw, + ray.origin.x, + ray.origin.y, + ray.origin.z, + ray.dir.x, + ray.dir.y, + ray.dir.z, + maxToi, + solid, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + )!, + ); + } + + /** + * Find the closest intersection between a ray and a set of collider. + * + * This also computes the normal at the hit point. + * @param colliders - The set of colliders taking part in this pipeline. + * @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. + * @param groups - Used to filter the colliders that can or cannot be hit by the ray. + */ + public castRayAndGetNormal( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + ray: Ray, + maxToi: number, + solid: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ): RayColliderIntersection | null { + return RayColliderIntersection.fromRaw( + colliders, + this.raw.castRayAndGetNormal( + narrowPhase.raw, + bodies.raw, + colliders.raw, + ray.origin.x, + ray.origin.y, + ray.origin.z, + ray.dir.x, + ray.dir.y, + ray.dir.z, + maxToi, + solid, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + )!, + ); + } + + /** + * Cast a ray and collects all the intersections between a ray and the scene. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @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. + * @param groups - Used to filter the colliders that can or cannot be hit by the ray. + * @param callback - The callback called once per hit (in no particular order) between a ray and a collider. + * If this callback returns `false`, then the cast will stop and no further hits will be detected/reported. + */ + public intersectionsWithRay( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + ray: Ray, + maxToi: number, + solid: boolean, + callback: (intersect: RayColliderIntersection) => boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ) { + let rawCallback = (rawInter: RawRayColliderIntersection) => { + return callback(RayColliderIntersection.fromRaw(colliders, rawInter)!); + }; + + this.raw.intersectionsWithRay( + narrowPhase.raw, + bodies.raw, + colliders.raw, + ray.origin.x, + ray.origin.y, + ray.origin.z, + ray.dir.x, + ray.dir.y, + ray.dir.z, + maxToi, + solid, + rawCallback, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + ); + } + + /** + * Gets the handle of up to one collider intersecting the given shape. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @param shapePos - The position of the shape used for the intersection test. + * @param shapeRot - The orientation of the shape used for the intersection test. + * @param shape - The shape used for the intersection test. + * @param groups - The bit groups and filter associated to the ray, in order to only + * hit the colliders with collision groups compatible with the ray's group. + */ + public intersectionWithShape( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + shapePos: Vector, + shapeRot: Rotation, + shape: Shape, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ): ColliderHandle | null { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawShape = shape.intoRaw(); + let result = this.raw.intersectionWithShape( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawPos, + rawRot, + rawShape, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + ); + + rawPos.free(); + rawRot.free(); + rawShape.free(); + + return result ?? null; + } + + /** + * Find the projection of a point on the closest collider. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @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). + * @param groups - The bit groups and filter associated to the point to project, in order to only + * project on colliders with collision groups compatible with the ray's group. + */ + public projectPoint( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + point: Vector, + solid: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ): PointColliderProjection | null { + let rawPoint = VectorOps.intoRaw(point); + let result = PointColliderProjection.fromRaw( + colliders, + this.raw.projectPoint( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawPoint, + solid, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + )!, + ); + + rawPoint.free(); + + return result; + } + + /** + * Find the projection of a point on the closest collider. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @param point - The point to project. + * @param groups - The bit groups and filter associated to the point to project, in order to only + * project on colliders with collision groups compatible with the ray's group. + */ + public projectPointAndGetFeature( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + point: Vector, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ): PointColliderProjection | null { + let rawPoint = VectorOps.intoRaw(point); + let result = PointColliderProjection.fromRaw( + colliders, + this.raw.projectPointAndGetFeature( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawPoint, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + )!, + ); + + rawPoint.free(); + + return result; + } + + /** + * Find all the colliders containing the given point. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @param point - The point used for the containment test. + * @param groups - The bit groups and filter associated to the point to test, in order to only + * test on colliders with collision groups compatible with the ray's group. + * @param callback - A function called with the handles of each collider with a shape + * containing the `point`. + */ + public intersectionsWithPoint( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + point: Vector, + callback: (handle: ColliderHandle) => boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ) { + let rawPoint = VectorOps.intoRaw(point); + + this.raw.intersectionsWithPoint( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawPoint, + callback, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + ); + + rawPoint.free(); + } + + /** + * Casts a shape at a constant linear velocity and retrieve the first collider it hits. + * This is similar to ray-casting except that we are casting a whole shape instead of + * just a point (the ray origin). + * + * @param colliders - The set of colliders taking part in this pipeline. + * @param shapePos - The initial position of the shape to cast. + * @param shapeRot - The initial rotation of the shape to cast. + * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction). + * @param shape - The shape to cast. + * @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. + * @param groups - The bit groups and filter associated to the shape to cast, in order to only + * test on colliders with collision groups compatible with this group. + */ + public castShape( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + shapePos: Vector, + shapeRot: Rotation, + shapeVel: Vector, + shape: Shape, + targetDistance: number, + maxToi: number, + stopAtPenetration: boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ): ColliderShapeCastHit | null { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawVel = VectorOps.intoRaw(shapeVel); + let rawShape = shape.intoRaw(); + + let result = ColliderShapeCastHit.fromRaw( + colliders, + this.raw.castShape( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawPos, + rawRot, + rawVel, + rawShape, + targetDistance, + maxToi, + stopAtPenetration, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + )!, + ); + + rawPos.free(); + rawRot.free(); + rawVel.free(); + rawShape.free(); + + return result; + } + + /** + * Retrieve all the colliders intersecting the given shape. + * + * @param colliders - The set of colliders taking part in this pipeline. + * @param shapePos - The position of the shape to test. + * @param shapeRot - The orientation of the shape to test. + * @param shape - The shape to test. + * @param groups - The bit groups and filter associated to the shape to test, in order to only + * test on colliders with collision groups compatible with this group. + * @param callback - A function called with the handles of each collider intersecting the `shape`. + */ + public intersectionsWithShape( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + shapePos: Vector, + shapeRot: Rotation, + shape: Shape, + callback: (handle: ColliderHandle) => boolean, + filterFlags?: QueryFilterFlags, + filterGroups?: InteractionGroups, + filterExcludeCollider?: ColliderHandle, + filterExcludeRigidBody?: RigidBodyHandle, + filterPredicate?: (collider: ColliderHandle) => boolean, + ) { + let rawPos = VectorOps.intoRaw(shapePos); + let rawRot = RotationOps.intoRaw(shapeRot); + let rawShape = shape.intoRaw(); + + this.raw.intersectionsWithShape( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawPos, + rawRot, + rawShape, + callback, + filterFlags ?? 0, + filterGroups, + filterExcludeCollider, + filterExcludeRigidBody, + filterPredicate as unknown as Function, + ); + + rawPos.free(); + rawRot.free(); + rawShape.free(); + } + + /** + * Finds the handles of all the colliders with an AABB intersecting the given AABB. + * + * @param aabbCenter - The center of the AABB to test. + * @param aabbHalfExtents - The half-extents of the AABB to test. + * @param callback - The callback that will be called with the handles of all the colliders + * currently intersecting the given AABB. + */ + public collidersWithAabbIntersectingAabb( + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + aabbCenter: Vector, + aabbHalfExtents: Vector, + callback: (handle: ColliderHandle) => boolean, + ) { + let rawCenter = VectorOps.intoRaw(aabbCenter); + let rawHalfExtents = VectorOps.intoRaw(aabbHalfExtents); + this.raw.collidersWithAabbIntersectingAabb( + narrowPhase.raw, + bodies.raw, + colliders.raw, + rawCenter, + rawHalfExtents, + callback, + ); + rawCenter.free(); + rawHalfExtents.free(); + } +} diff --git a/src.ts/geometry/collider.ts b/packages/rapier-3d/src/geometry/collider.ts similarity index 80% rename from src.ts/geometry/collider.ts rename to packages/rapier-3d/src/geometry/collider.ts index 25817362..971a8b6f 100644 --- a/src.ts/geometry/collider.ts +++ b/packages/rapier-3d/src/geometry/collider.ts @@ -1,13 +1,11 @@ -import {RawColliderSet} from "../raw"; +import {CoefficientCombineRule, RigidBody, RigidBodySet} from "../dynamics"; import {Rotation, RotationOps, Vector, VectorOps} from "../math"; -import { - CoefficientCombineRule, - RigidBody, - RigidBodyHandle, - RigidBodySet, -} from "../dynamics"; import {ActiveHooks, ActiveEvents} from "../pipeline"; +import {ColliderSet} from "./collider_set"; +import {ShapeContact} from "./contact"; import {InteractionGroups} from "./interaction_groups"; +import {PointProjection} from "./point"; +import {Ray, RayIntersection} from "./ray"; import { Shape, Cuboid, @@ -22,13 +20,7 @@ import { Triangle, RoundTriangle, RoundCuboid, - HalfSpace, TriMeshFlags, - // #if DIM2 - ConvexPolygon, - RoundConvexPolygon, - // #endif - // #if DIM3 Cylinder, RoundCylinder, Cone, @@ -36,13 +28,8 @@ import { ConvexPolyhedron, RoundConvexPolyhedron, HeightFieldFlags, - // #endif } from "./shape"; -import {Ray, RayIntersection} from "./ray"; -import {PointProjection} from "./point"; import {ColliderShapeCastHit, ShapeCastHit} from "./toi"; -import {ShapeContact} from "./contact"; -import {ColliderSet} from "./collider_set"; /** * Flags affecting whether collision-detection happens between two colliders @@ -110,8 +97,9 @@ export type ColliderHandle = number; export class Collider { private colliderSet: ColliderSet; // The Collider won't need to free this. readonly handle: ColliderHandle; - private _shape: Shape; // TODO: deprecate/remove this since it isn’t a reliable way of getting the latest shape properties. + private _shape: Shape; // TODO: deprecate/remove this since it isn't a reliable way of getting the latest shape properties. private _parent: RigidBody | null; + private scratchBuffer: Float32Array; constructor( colliderSet: ColliderSet, @@ -122,21 +110,19 @@ export class Collider { this.colliderSet = colliderSet; this.handle = handle; this._parent = parent; - this._shape = shape; + this._shape = shape!; + this.scratchBuffer = new Float32Array(4); } /** @internal */ public finalizeDeserialization(bodies: RigidBodySet) { if (this.handle != null) { - this._parent = bodies.get( - this.colliderSet.raw.coParent(this.handle), - ); + this._parent = bodies.get(this.colliderSet.raw.coParent(this.handle)!); } } private ensureShapeIsCached() { - if (!this._shape) - this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle); + if (!this._shape) this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle); } /** @@ -156,7 +142,7 @@ export class Collider { * accessed) from the WASM source of truth. */ public clearShapeCache() { - this._shape = null; + this._shape = null!; } /** @@ -169,42 +155,51 @@ export class Collider { /** * The world-space translation of this collider. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public translation(): Vector { - return VectorOps.fromRaw( - this.colliderSet.raw.coTranslation(this.handle), - ); + public translation(target?: Vector): Vector { + this.colliderSet.raw.coTranslation(this.handle, this.scratchBuffer); + return VectorOps.fromBuffer(this.scratchBuffer, target); } /** * The translation of this collider relative to its parent rigid-body. * - * Returns `null` if the collider doesn’t have a parent rigid-body. + * Returns `null` if the collider doesn't have a parent rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public translationWrtParent(): Vector | null { - return VectorOps.fromRaw( - this.colliderSet.raw.coTranslationWrtParent(this.handle), + public translationWrtParent(target?: Vector): Vector | null { + const hasParent = this.colliderSet.raw.coTranslationWrtParent( + this.handle, + this.scratchBuffer, ); + if (!hasParent) return null; + return VectorOps.fromBuffer(this.scratchBuffer, target); } /** * The world-space orientation of this collider. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public rotation(): Rotation { - return RotationOps.fromRaw( - this.colliderSet.raw.coRotation(this.handle), - ); + public rotation(target?: Rotation): Rotation { + this.colliderSet.raw.coRotation(this.handle, this.scratchBuffer); + return RotationOps.fromBuffer(this.scratchBuffer, target); } /** * The orientation of this collider relative to its parent rigid-body. * - * Returns `null` if the collider doesn’t have a parent rigid-body. + * Returns `null` if the collider doesn't have a parent rigid-body. + * + * @param target - Optional target object to write the result to (avoids allocation). */ - public rotationWrtParent(): Rotation | null { - return RotationOps.fromRaw( - this.colliderSet.raw.coRotationWrtParent(this.handle), - ); + public rotationWrtParent(target?: Rotation): Rotation | null { + const hasParent = this.colliderSet.raw.coRotationWrtParent(this.handle, this.scratchBuffer); + if (!hasParent) return null; + return RotationOps.fromBuffer(this.scratchBuffer, target); } /** @@ -401,10 +396,7 @@ export class Collider { * @param threshold - The new force threshold. */ public setContactForceEventThreshold(threshold: number) { - return this.colliderSet.raw.coSetContactForceEventThreshold( - this.handle, - threshold, - ); + return this.colliderSet.raw.coSetContactForceEventThreshold(this.handle, threshold); } /** @@ -420,10 +412,7 @@ export class Collider { * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider. */ public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes) { - this.colliderSet.raw.coSetActiveCollisionTypes( - this.handle, - activeCollisionTypes, - ); + this.colliderSet.raw.coSetActiveCollisionTypes(this.handle, activeCollisionTypes); } /** @@ -454,7 +443,6 @@ export class Collider { this.colliderSet.raw.coSetMass(this.handle, mass); } - // #if DIM3 /** * Sets the mass of this collider. * @@ -485,45 +473,13 @@ export class Collider { rawInertiaFrame.free(); } - // #endif - - // #if DIM2 - /** - * Sets the mass of this collider. - * - * This will override any previous mass-properties set by `this.setDensity`, - * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`, - * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider. - */ - public setMassProperties( - mass: number, - centerOfMass: Vector, - principalAngularInertia: number, - ) { - let rawCom = VectorOps.intoRaw(centerOfMass); - this.colliderSet.raw.coSetMassProperties( - this.handle, - mass, - rawCom, - principalAngularInertia, - ); - rawCom.free(); - } - - // #endif - /** * Sets the translation of this collider. * * @param tra - The world-space position of the collider. */ public setTranslation(tra: Vector) { - // #if DIM2 - this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y); - // #endif - // #if DIM3 this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y, tra.z); - // #endif } /** @@ -534,24 +490,9 @@ export class Collider { * @param tra - The new translation of the collider relative to its parent. */ public setTranslationWrtParent(tra: Vector) { - // #if DIM2 - this.colliderSet.raw.coSetTranslationWrtParent( - this.handle, - tra.x, - tra.y, - ); - // #endif - // #if DIM3 - this.colliderSet.raw.coSetTranslationWrtParent( - this.handle, - tra.x, - tra.y, - tra.z, - ); - // #endif + this.colliderSet.raw.coSetTranslationWrtParent(this.handle, tra.x, tra.y, tra.z); } - // #if DIM3 /** * Sets the rotation quaternion of this collider. * @@ -560,13 +501,7 @@ export class Collider { * @param rotation - The rotation to set. */ public setRotation(rot: Rotation) { - this.colliderSet.raw.coSetRotation( - this.handle, - rot.x, - rot.y, - rot.z, - rot.w, - ); + this.colliderSet.raw.coSetRotation(this.handle, rot.x, rot.y, rot.z, rot.w); } /** @@ -578,55 +513,21 @@ export class Collider { * @param rotation - The rotation to set. */ public setRotationWrtParent(rot: Rotation) { - this.colliderSet.raw.coSetRotationWrtParent( - this.handle, - rot.x, - rot.y, - rot.z, - rot.w, - ); - } - - // #endif - // #if DIM2 - /** - * Sets the rotation angle of this collider. - * - * @param angle - The rotation angle, in radians. - */ - public setRotation(angle: number) { - this.colliderSet.raw.coSetRotation(this.handle, angle); - } - - /** - * Sets the rotation angle of this collider relative to its parent rigid-body. - * - * Does nothing if this collider isn't attached to a rigid-body. - * - * @param angle - The rotation angle, in radians. - */ - public setRotationWrtParent(angle: number) { - this.colliderSet.raw.coSetRotationWrtParent(this.handle, angle); + this.colliderSet.raw.coSetRotationWrtParent(this.handle, rot.x, rot.y, rot.z, rot.w); } - // #endif - /** * The type of the shape of this collider. */ public shapeType(): ShapeType { - return this.colliderSet.raw.coShapeType( - this.handle, - ) as number as ShapeType; + return this.colliderSet.raw.coShapeType(this.handle) as number as ShapeType; } /** * The half-extents of this collider if it is a cuboid shape. */ public halfExtents(): Vector { - return VectorOps.fromRaw( - this.colliderSet.raw.coHalfExtents(this.handle), - ); + return VectorOps.fromRaw(this.colliderSet.raw.coHalfExtents(this.handle)!)!; } /** @@ -643,7 +544,7 @@ export class Collider { * The radius of this collider if it is a ball, cylinder, capsule, or cone shape. */ public radius(): number { - return this.colliderSet.raw.coRadius(this.handle); + return this.colliderSet.raw.coRadius(this.handle)!; } /** @@ -659,7 +560,7 @@ export class Collider { * The radius of the round edges of this collider if it is a round cylinder. */ public roundRadius(): number { - return this.colliderSet.raw.coRoundRadius(this.handle); + return this.colliderSet.raw.coRoundRadius(this.handle)!; } /** @@ -675,7 +576,7 @@ export class Collider { * The half height of this collider if it is a cylinder, capsule, or cone shape. */ public halfHeight(): number { - return this.colliderSet.raw.coHalfHeight(this.handle); + return this.colliderSet.raw.coHalfHeight(this.handle)!; } /** @@ -698,28 +599,13 @@ export class Collider { * bounds of the currently allocated internal grid in which case the grid * will be grown automatically. */ - public setVoxel( - ix: number, - iy: number, - // #if DIM3 - iz: number, - // #endif - filled: boolean, - ) { - this.colliderSet.raw.coSetVoxel( - this.handle, - ix, - iy, - // #if DIM3 - iz, - // #endif - filled, - ); + public setVoxel(ix: number, iy: number, iz: number, filled: boolean) { + this.colliderSet.raw.coSetVoxel(this.handle, ix, iy, iz, 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; + this._shape = null!; } /** @@ -744,34 +630,26 @@ export class Collider { voxels2: Collider, ix: number, iy: number, - // #if DIM3 iz: number, - // #endif shift_x: number, shift_y: number, - // #if DIM3 shift_z: number, - // #endif ) { this.colliderSet.raw.coPropagateVoxelChange( this.handle, voxels2.handle, ix, iy, - // #if DIM3 iz, - // #endif shift_x, shift_y, - // #if DIM3 shift_z, - // #endif ); // We modified the shape, invalidate it to keep our cache // up-to-date the next time the user requests the shape data. // PERF: this isn’t ideal for performances as this adds a // hidden, non-constant, cost. - this._shape = null; + this._shape = null!; } /** @@ -794,24 +672,20 @@ export class Collider { voxels2: Collider, shift_x: number, shift_y: number, - // #if DIM3 shift_z: number, - // #endif ) { this.colliderSet.raw.coCombineVoxelStates( this.handle, voxels2.handle, shift_x, shift_y, - // #if DIM3 shift_z, - // #endif ); // We modified the shape, invalidate it to keep our cache // up-to-date the next time the user requests the shape data. // PERF: this isn’t ideal for performances as this adds a // hidden, non-constant, cost. - this._shape = null; + this._shape = null!; } /** @@ -819,7 +693,7 @@ export class Collider { * this returns the vertex buffer of said shape. */ public vertices(): Float32Array { - return this.colliderSet.raw.coVertices(this.handle); + return this.colliderSet.raw.coVertices(this.handle)!; } /** @@ -836,7 +710,7 @@ export class Collider { * In 3D, the returned height matrix is provided in column-major order. */ public heightfieldHeights(): Float32Array { - return this.colliderSet.raw.coHeightfieldHeights(this.handle); + return this.colliderSet.raw.coHeightfieldHeights(this.handle)!; } /** @@ -844,17 +718,16 @@ export class Collider { * applied to it. */ public heightfieldScale(): Vector { - let scale = this.colliderSet.raw.coHeightfieldScale(this.handle); - return VectorOps.fromRaw(scale); + let scale = this.colliderSet.raw.coHeightfieldScale(this.handle)!; + return VectorOps.fromRaw(scale)!; } - // #if DIM3 /** * If this collider has a heightfield shape, this returns the number of * rows of its height matrix. */ public heightfieldNRows(): number { - return this.colliderSet.raw.coHeightfieldNRows(this.handle); + return this.colliderSet.raw.coHeightfieldNRows(this.handle)!; } /** @@ -862,11 +735,9 @@ export class Collider { * columns of its height matrix. */ public heightfieldNCols(): number { - return this.colliderSet.raw.coHeightfieldNCols(this.handle); + return this.colliderSet.raw.coHeightfieldNCols(this.handle)!; } - // #endif - /** * The rigid-body this collider is attached to. */ @@ -930,10 +801,7 @@ export class Collider { */ public containsPoint(point: Vector): boolean { let rawPoint = VectorOps.intoRaw(point); - let result = this.colliderSet.raw.coContainsPoint( - this.handle, - rawPoint, - ); + let result = this.colliderSet.raw.coContainsPoint(this.handle, rawPoint); rawPoint.free(); @@ -971,12 +839,7 @@ export class Collider { public intersectsRay(ray: Ray, maxToi: number): boolean { let rawOrig = VectorOps.intoRaw(ray.origin); let rawDir = VectorOps.intoRaw(ray.dir); - let result = this.colliderSet.raw.coIntersectsRay( - this.handle, - rawOrig, - rawDir, - maxToi, - ); + let result = this.colliderSet.raw.coIntersectsRay(this.handle, rawOrig, rawDir, maxToi); rawOrig.free(); rawDir.free(); @@ -1028,7 +891,7 @@ export class Collider { targetDistance, maxToi, stopAtPenetration, - ), + )!, ); rawCollider1Vel.free(); @@ -1075,7 +938,7 @@ export class Collider { targetDistance, maxToi, stopAtPenetration, - ), + )!, ); rawCollider1Vel.free(); @@ -1084,11 +947,7 @@ export class Collider { return result; } - public intersectsShape( - shape2: Shape, - shapePos2: Vector, - shapeRot2: Rotation, - ): boolean { + public intersectsShape(shape2: Shape, shapePos2: Vector, shapeRot2: Rotation): boolean { let rawPos2 = VectorOps.intoRaw(shapePos2); let rawRot2 = RotationOps.intoRaw(shapeRot2); let rawShape2 = shape2.intoRaw(); @@ -1133,7 +992,7 @@ export class Collider { rawPos2, rawRot2, prediction, - ), + )!, ); rawPos2.free(); @@ -1150,16 +1009,9 @@ export class Collider { * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail. * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space. */ - contactCollider( - collider2: Collider, - prediction: number, - ): ShapeContact | null { + contactCollider(collider2: Collider, prediction: number): ShapeContact | null { let result = ShapeContact.fromRaw( - this.colliderSet.raw.coContactCollider( - this.handle, - collider2.handle, - prediction, - ), + this.colliderSet.raw.coContactCollider(this.handle, collider2.handle, prediction)!, ); return result; @@ -1180,13 +1032,7 @@ export class Collider { public castRay(ray: Ray, maxToi: number, solid: boolean): number { let rawOrig = VectorOps.intoRaw(ray.origin); let rawDir = VectorOps.intoRaw(ray.dir); - let result = this.colliderSet.raw.coCastRay( - this.handle, - rawOrig, - rawDir, - maxToi, - solid, - ); + let result = this.colliderSet.raw.coCastRay(this.handle, rawOrig, rawDir, maxToi, solid); rawOrig.free(); rawDir.free(); @@ -1205,11 +1051,7 @@ export class Collider { * origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain, * whereas `false` implies that all shapes are hollow for this ray-cast. */ - public castRayAndGetNormal( - ray: Ray, - maxToi: number, - solid: boolean, - ): RayIntersection | null { + public castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean): RayIntersection | null { let rawOrig = VectorOps.intoRaw(ray.origin); let rawDir = VectorOps.intoRaw(ray.dir); let result = RayIntersection.fromRaw( @@ -1219,7 +1061,7 @@ export class Collider { rawDir, maxToi, solid, - ), + )!, ); rawOrig.free(); @@ -1241,14 +1083,8 @@ export class ColliderDesc { massPropsMode: MassPropsMode; mass: number; centerOfMass: Vector; - // #if DIM2 - principalAngularInertia: number; - rotationsEnabled: boolean; - // #endif - // #if DIM3 principalAngularInertia: Vector; angularInertiaLocalFrame: Rotation; - // #endif density: number; friction: number; restitution: number; @@ -1292,14 +1128,8 @@ export class ColliderDesc { this.contactForceEventThreshold = 0.0; this.contactSkin = 0.0; - // #if DIM2 - this.principalAngularInertia = 0.0; - this.rotationsEnabled = true; - // #endif - // #if DIM3 this.principalAngularInertia = VectorOps.zeros(); this.angularInertiaLocalFrame = RotationOps.identity(); - // #endif } /** @@ -1372,11 +1202,8 @@ export class ColliderDesc { * @param indices - The indices of the polyline's segments. If this is `undefined` or `null`, * the vertices are assumed to describe a line strip. */ - public static polyline( - vertices: Float32Array, - indices?: Uint32Array | null, - ): ColliderDesc { - const shape = new Polyline(vertices, indices); + public static polyline(vertices: Float32Array, indices?: Uint32Array | null): ColliderDesc { + const shape = new Polyline(vertices, indices ?? undefined); return new ColliderDesc(shape); } @@ -1392,10 +1219,7 @@ export class ColliderDesc { * in 3D (resp 2D). * @param voxelSize - The size of each voxel. */ - public static voxels( - voxels: Float32Array | Int32Array, - voxelSize: Vector, - ): ColliderDesc { + public static voxels(voxels: Float32Array | Int32Array, voxelSize: Vector): ColliderDesc { const shape = new Voxels(voxels, voxelSize); return new ColliderDesc(shape); } @@ -1415,114 +1239,6 @@ export class ColliderDesc { return new ColliderDesc(shape); } - // #if DIM2 - /** - * Creates a new collider descriptor with a rectangular 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. - */ - public static cuboid(hx: number, hy: number): ColliderDesc { - const shape = new Cuboid(hx, hy); - 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 borderRadius - The radius of the cuboid's borders. - */ - public static roundCuboid( - hx: number, - hy: number, - borderRadius: number, - ): ColliderDesc { - const shape = new RoundCuboid(hx, hy, borderRadius); - return new ColliderDesc(shape); - } - - /** - * Creates a new collider description with a halfspace (infinite plane) shape. - * - * @param normal - The outward normal of the plane. - */ - public static halfspace(normal: Vector): ColliderDesc { - const shape = new HalfSpace(normal); - return new ColliderDesc(shape); - } - - /** - * Creates a new collider descriptor with a heightfield shape. - * - * @param heights - The heights of the heightfield, along its local `y` axis. - * @param scale - The scale factor applied to the heightfield. - */ - public static heightfield( - heights: Float32Array, - scale: Vector, - ): ColliderDesc { - const shape = new Heightfield(heights, scale); - return new ColliderDesc(shape); - } - - /** - * Computes the convex-hull of the given points and use the resulting - * convex polygon as the shape for this new collider descriptor. - * - * @param points - The point that will be used to compute the convex-hull. - */ - public static convexHull(points: Float32Array): ColliderDesc | null { - const shape = new ConvexPolygon(points, false); - return new ColliderDesc(shape); - } - - /** - * Creates a new collider descriptor that uses the given set of points assumed - * to form a convex polyline (no convex-hull computation will be done). - * - * @param vertices - The vertices of the convex polyline. - */ - public static convexPolyline(vertices: Float32Array): ColliderDesc | null { - const shape = new ConvexPolygon(vertices, true); - return new ColliderDesc(shape); - } - - /** - * Computes the convex-hull of the given points and use the resulting - * convex polygon as the shape for this new collider descriptor. A - * border is added to that convex polygon 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 polygon. - */ - public static roundConvexHull( - points: Float32Array, - borderRadius: number, - ): ColliderDesc | null { - const shape = new RoundConvexPolygon(points, borderRadius, false); - return new ColliderDesc(shape); - } - - /** - * Creates a new collider descriptor that uses the given set of points assumed - * to form a round convex polyline (no convex-hull computation will be done). - * - * @param vertices - The vertices of the convex polyline. - * @param borderRadius - The radius of the round border added to the convex polyline. - */ - public static roundConvexPolyline( - vertices: Float32Array, - borderRadius: number, - ): ColliderDesc | null { - const shape = new RoundConvexPolygon(vertices, borderRadius, true); - return new ColliderDesc(shape); - } - - // #endif - - // #if DIM3 /** * Creates a new collider descriptor with a cuboid shape. * @@ -1660,10 +1376,7 @@ export class ColliderDesc { * @param points - The point that will be used to compute the convex-hull. * @param borderRadius - The radius of the round border added to the convex polyhedron. */ - public static roundConvexHull( - points: Float32Array, - borderRadius: number, - ): ColliderDesc | null { + public static roundConvexHull(points: Float32Array, borderRadius: number): ColliderDesc | null { const shape = new RoundConvexPolyhedron(points, null, borderRadius); return new ColliderDesc(shape); } @@ -1680,60 +1393,28 @@ export class ColliderDesc { indices: Uint32Array | null, borderRadius: number, ): ColliderDesc | null { - const shape = new RoundConvexPolyhedron( - vertices, - indices, - borderRadius, - ); + const shape = new RoundConvexPolyhedron(vertices, indices, borderRadius); return new ColliderDesc(shape); } - // #endif - - // #if DIM2 - /** - * Sets the position of the collider to be created relative to the rigid-body it is attached to. - */ - public setTranslation(x: number, y: number): ColliderDesc { - if (typeof x != "number" || typeof y != "number") - throw TypeError("The translation components must be numbers."); - - this.translation = {x: x, y: y}; - return this; - } - - // #endif - - // #if DIM3 /** * Sets the position of the collider to be created relative to the rigid-body it is attached to. */ public setTranslation(x: number, y: number, z: number): ColliderDesc { - if ( - typeof x != "number" || - typeof y != "number" || - typeof z != "number" - ) + 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. */ public setRotation(rot: Rotation): ColliderDesc { - // #if DIM2 - this.rotation = rot; - // #endif - // #if DIM3 RotationOps.copy(this.rotation, rot); - // #endif return this; } @@ -1802,32 +1483,6 @@ export class ColliderDesc { return this; } - // #if DIM2 - /** - * 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 principal angular inertia of the collider to create. - */ - public setMassProperties( - mass: number, - centerOfMass: Vector, - principalAngularInertia: number, - ): ColliderDesc { - this.massPropsMode = MassPropsMode.MassProps; - this.mass = mass; - VectorOps.copy(this.centerOfMass, centerOfMass); - this.principalAngularInertia = principalAngularInertia; - return this; - } - - // #endif - - // #if DIM3 /** * Sets the mass properties of the collider being built. * @@ -1851,15 +1506,10 @@ export class ColliderDesc { this.mass = mass; VectorOps.copy(this.centerOfMass, centerOfMass); VectorOps.copy(this.principalAngularInertia, principalAngularInertia); - RotationOps.copy( - this.angularInertiaLocalFrame, - angularInertiaLocalFrame, - ); + RotationOps.copy(this.angularInertiaLocalFrame, angularInertiaLocalFrame); return this; } - // #endif - /** * Sets the restitution coefficient of the collider to be created. * @@ -1901,9 +1551,7 @@ export class ColliderDesc { * * @param rule − The combine rule to apply. */ - public setRestitutionCombineRule( - rule: CoefficientCombineRule, - ): ColliderDesc { + public setRestitutionCombineRule(rule: CoefficientCombineRule): ColliderDesc { this.restitutionCombineRule = rule; return this; } @@ -1964,9 +1612,7 @@ export class ColliderDesc { * * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider. */ - public setActiveCollisionTypes( - activeCollisionTypes: ActiveCollisionTypes, - ): ColliderDesc { + public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes): ColliderDesc { this.activeCollisionTypes = activeCollisionTypes; return this; } diff --git a/packages/rapier-3d/src/geometry/collider_set.ts b/packages/rapier-3d/src/geometry/collider_set.ts new file mode 100644 index 00000000..64390d44 --- /dev/null +++ b/packages/rapier-3d/src/geometry/collider_set.ts @@ -0,0 +1,195 @@ +import {Coarena} from "../coarena"; +import {ImpulseJointHandle, IslandManager, RigidBodyHandle} from "../dynamics"; +import {RigidBodySet} from "../dynamics"; +import {RotationOps, VectorOps} from "../math"; +import {RawColliderSet} from "../raw"; +import {Collider, ColliderDesc, ColliderHandle} from "./collider"; + +/** + * A set of rigid bodies that can be handled by a physics pipeline. + * + * To avoid leaking WASM resources, this MUST be freed manually with `colliderSet.free()` + * once you are done using it (and all the rigid-bodies it created). + */ +export class ColliderSet { + raw: RawColliderSet; + private map: Coarena; + + /** + * Release the WASM memory occupied by this collider set. + */ + public free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + + if (!!this.map) { + this.map.clear(); + } + this.map = undefined!; + } + + constructor(raw?: RawColliderSet) { + this.raw = raw || new RawColliderSet(); + this.map = new Coarena(); + // Initialize the map with the existing elements, if any. + if (raw) { + raw.forEachColliderHandle((handle: ColliderHandle) => { + this.map.set(handle, new Collider(this, handle, null)); + }); + } + } + + /** @internal */ + public castClosure( + f?: (collider: Collider) => Res, + ): ((handle: ColliderHandle) => Res) | undefined { + if (!f) return undefined; + return (handle) => { + return f(this.get(handle)!); + }; + } + + /** @internal */ + public finalizeDeserialization(bodies: RigidBodySet) { + this.map.forEach((collider) => collider.finalizeDeserialization(bodies)); + } + + /** + * Creates a new collider and return its integer handle. + * + * @param bodies - The set of bodies where the collider's parent can be found. + * @param desc - The collider's description. + * @param parentHandle - The integer handle of the rigid-body this collider is attached to. + */ + public createCollider( + bodies: RigidBodySet, + desc: ColliderDesc, + parentHandle?: RigidBodyHandle, + ): Collider { + let hasParent = parentHandle != undefined && parentHandle != null; + + if (hasParent && isNaN(parentHandle!)) + throw Error( + "Cannot create a collider with a parent rigid-body handle that is not a number.", + ); + + let rawShape = desc.shape.intoRaw(); + let rawTra = VectorOps.intoRaw(desc.translation); + let rawRot = RotationOps.intoRaw(desc.rotation); + let rawCom = VectorOps.intoRaw(desc.centerOfMass); + + let rawPrincipalInertia = VectorOps.intoRaw(desc.principalAngularInertia); + let rawInertiaFrame = RotationOps.intoRaw(desc.angularInertiaLocalFrame); + + let handle = this.raw.createCollider( + desc.enabled, + rawShape, + rawTra, + rawRot, + desc.massPropsMode, + desc.mass, + rawCom, + rawPrincipalInertia, + rawInertiaFrame, + desc.density, + desc.friction, + desc.restitution, + desc.frictionCombineRule, + desc.restitutionCombineRule, + desc.isSensor, + desc.collisionGroups, + desc.solverGroups, + desc.activeCollisionTypes, + desc.activeHooks, + desc.activeEvents, + desc.contactForceEventThreshold, + desc.contactSkin, + hasParent, + hasParent ? parentHandle! : 0, + bodies.raw, + ); + + rawShape.free(); + rawTra.free(); + rawRot.free(); + rawCom.free(); + + rawPrincipalInertia.free(); + rawInertiaFrame.free(); + + let parent = hasParent ? bodies.get(parentHandle!) : null; + let collider = new Collider(this, handle!, parent, desc.shape); + this.map.set(handle!, collider); + return collider; + } + + /** + * Remove a collider from this set. + * + * @param handle - The integer handle of the collider to remove. + * @param bodies - The set of rigid-body containing the rigid-body the collider is attached to. + * @param wakeUp - If `true`, the rigid-body the removed collider is attached to will be woken-up automatically. + */ + public remove( + handle: ColliderHandle, + islands: IslandManager, + bodies: RigidBodySet, + wakeUp: boolean, + ) { + this.raw.remove(handle, islands.raw, bodies.raw, wakeUp); + this.unmap(handle); + } + + /** + * Internal function, do not call directly. + * @param handle + */ + public unmap(handle: ImpulseJointHandle) { + this.map.delete(handle); + } + + /** + * Gets the rigid-body with the given handle. + * + * @param handle - The handle of the rigid-body to retrieve. + */ + public get(handle: ColliderHandle): Collider | null { + return this.map.get(handle); + } + + /** + * The number of colliders on this set. + */ + public len(): number { + return this.map.len(); + } + + /** + * Does this set contain a collider with the given handle? + * + * @param handle - The collider handle to check. + */ + public contains(handle: ColliderHandle): boolean { + return this.get(handle) != null; + } + + /** + * Applies the given closure to each collider contained by this set. + * + * @param f - The closure to apply. + */ + public forEach(f: (collider: Collider) => void) { + this.map.forEach(f); + } + + /** + * Gets all colliders in the list. + * + * @returns collider list. + */ + public getAll(): Collider[] { + return this.map.getAll(); + } +} diff --git a/packages/rapier-3d/src/geometry/contact.ts b/packages/rapier-3d/src/geometry/contact.ts new file mode 100644 index 00000000..99b345fb --- /dev/null +++ b/packages/rapier-3d/src/geometry/contact.ts @@ -0,0 +1,56 @@ +import {Vector, VectorOps} from "../math"; +import {RawShapeContact} from "../raw"; + +/** + * The contact info between two shapes. + */ +export class ShapeContact { + /** + * Distance between the two contact points. + * If this is negative, this contact represents a penetration. + */ + distance: number; + + /** + * Position of the contact on the first shape. + */ + point1: Vector; + + /** + * Position of the contact on the second shape. + */ + point2: Vector; + + /** + * Contact normal, pointing towards the exterior of the first shape. + */ + normal1: Vector; + + /** + * Contact normal, pointing towards the exterior of the second shape. + * If these contact data are expressed in world-space, this normal is equal to -normal1. + */ + normal2: Vector; + + constructor(dist: number, point1: Vector, point2: Vector, normal1: Vector, normal2: Vector) { + this.distance = dist; + this.point1 = point1; + this.point2 = point2; + this.normal1 = normal1; + this.normal2 = normal2; + } + + public static fromRaw(raw: RawShapeContact): ShapeContact | null { + if (!raw) return null; + + const result = new ShapeContact( + raw.distance(), + VectorOps.fromRaw(raw.point1())!, + VectorOps.fromRaw(raw.point2())!, + VectorOps.fromRaw(raw.normal1())!, + VectorOps.fromRaw(raw.normal2())!, + ); + raw.free(); + return result; + } +} diff --git a/packages/rapier-3d/src/geometry/feature.ts b/packages/rapier-3d/src/geometry/feature.ts new file mode 100644 index 00000000..9a9c2fb6 --- /dev/null +++ b/packages/rapier-3d/src/geometry/feature.ts @@ -0,0 +1,6 @@ +export enum FeatureType { + Vertex, + Edge, + Face, + Unknown, +} diff --git a/packages/rapier-3d/src/geometry/index.ts b/packages/rapier-3d/src/geometry/index.ts new file mode 100644 index 00000000..1bd19e50 --- /dev/null +++ b/packages/rapier-3d/src/geometry/index.ts @@ -0,0 +1,11 @@ +export * from "./broad_phase"; +export * from "./narrow_phase"; +export * from "./shape"; +export * from "./collider"; +export * from "./collider_set"; +export * from "./feature"; +export * from "./ray"; +export * from "./point"; +export * from "./toi"; +export * from "./interaction_groups"; +export * from "./contact"; diff --git a/packages/rapier-3d/src/geometry/interaction_groups.ts b/packages/rapier-3d/src/geometry/interaction_groups.ts new file mode 100644 index 00000000..4d73fd31 --- /dev/null +++ b/packages/rapier-3d/src/geometry/interaction_groups.ts @@ -0,0 +1,18 @@ +/** + * Pairwise filtering using bit masks. + * + * This filtering method is based on two 16-bit values: + * - The interaction groups (the 16 left-most bits of `self.0`). + * - The interaction mask (the 16 right-most bits of `self.0`). + * + * An interaction is allowed between two filters `a` and `b` two conditions + * are met simultaneously: + * - The interaction groups of `a` has at least one bit set to `1` in common with the interaction mask of `b`. + * - The interaction groups of `b` has at least one bit set to `1` in common with the interaction mask of `a`. + * In other words, interactions are allowed between two filter iff. the following condition is met: + * + * ``` + * ((a >> 16) & b) != 0 && ((b >> 16) & a) != 0 + * ``` + */ +export type InteractionGroups = number; diff --git a/src.ts/geometry/narrow_phase.ts b/packages/rapier-3d/src/geometry/narrow_phase.ts similarity index 80% rename from src.ts/geometry/narrow_phase.ts rename to packages/rapier-3d/src/geometry/narrow_phase.ts index af04a227..85ee8263 100644 --- a/src.ts/geometry/narrow_phase.ts +++ b/packages/rapier-3d/src/geometry/narrow_phase.ts @@ -1,6 +1,6 @@ +import {Vector, VectorOps} from "../math"; import {RawNarrowPhase, RawContactManifold} from "../raw"; import {ColliderHandle} from "./collider"; -import {Vector, VectorOps} from "../math"; /** * The narrow-phase used for precise collision-detection. @@ -19,12 +19,12 @@ export class NarrowPhase { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw?: RawNarrowPhase) { this.raw = raw || new RawNarrowPhase(); - this.tempManifold = new TempContactManifold(null); + this.tempManifold = new TempContactManifold(null!); } /** @@ -33,10 +33,7 @@ export class NarrowPhase { * @param collider1 - The second collider involved in the contact. * @param f - Closure that will be called on each collider that is in contact with `collider1`. */ - public contactPairsWith( - collider1: ColliderHandle, - f: (collider2: ColliderHandle) => void, - ) { + public contactPairsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void) { this.raw.contact_pairs_with(collider1, f); } @@ -72,7 +69,7 @@ export class NarrowPhase { let i; for (i = 0; i < rawPair.numContactManifolds(); ++i) { - this.tempManifold.raw = rawPair.contactManifold(i); + this.tempManifold.raw = rawPair.contactManifold(i)!; if (!!this.tempManifold.raw) { f(this.tempManifold, flipped); } @@ -91,10 +88,7 @@ export class NarrowPhase { * @param collider1 − The first collider involved in the intersection. * @param collider2 − The second collider involved in the intersection. */ - public intersectionPair( - collider1: ColliderHandle, - collider2: ColliderHandle, - ): boolean { + public intersectionPair(collider1: ColliderHandle, collider2: ColliderHandle): boolean { return this.raw.intersection_pair(collider1, collider2); } } @@ -106,23 +100,23 @@ export class TempContactManifold { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } constructor(raw: RawContactManifold) { this.raw = raw; } - public normal(): Vector { - return VectorOps.fromRaw(this.raw.normal()); + public normal(target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.normal(), target)!; } - public localNormal1(): Vector { - return VectorOps.fromRaw(this.raw.local_n1()); + public localNormal1(target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.local_n1(), target)!; } - public localNormal2(): Vector { - return VectorOps.fromRaw(this.raw.local_n2()); + public localNormal2(target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.local_n2(), target)!; } public subshape1(): number { @@ -137,12 +131,12 @@ export class TempContactManifold { return this.raw.num_contacts(); } - public localContactPoint1(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.contact_local_p1(i)); + public localContactPoint1(i: number, target?: Vector): Vector | null { + return VectorOps.fromRaw(this.raw.contact_local_p1(i)!, target); } - public localContactPoint2(i: number): Vector | null { - return VectorOps.fromRaw(this.raw.contact_local_p2(i)); + public localContactPoint2(i: number, target?: Vector): Vector | null { + return VectorOps.fromRaw(this.raw.contact_local_p2(i)!, target); } public contactDist(i: number): number { @@ -161,13 +155,6 @@ export class TempContactManifold { return this.raw.contact_impulse(i); } - // #if DIM2 - public contactTangentImpulse(i: number): number { - return this.raw.contact_tangent_impulse(i); - } - // #endif - - // #if DIM3 public contactTangentImpulseX(i: number): number { return this.raw.contact_tangent_impulse_x(i); } @@ -175,14 +162,13 @@ export class TempContactManifold { public contactTangentImpulseY(i: number): number { return this.raw.contact_tangent_impulse_y(i); } - // #endif public numSolverContacts(): number { return this.raw.num_solver_contacts(); } - public solverContactPoint(i: number): Vector { - return VectorOps.fromRaw(this.raw.solver_contact_point(i)); + public solverContactPoint(i: number, target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.solver_contact_point(i)!, target)!; } public solverContactDist(i: number): number { @@ -197,7 +183,7 @@ export class TempContactManifold { return this.raw.solver_contact_restitution(i); } - public solverContactTangentVelocity(i: number): Vector { - return VectorOps.fromRaw(this.raw.solver_contact_tangent_velocity(i)); + public solverContactTangentVelocity(i: number, target?: Vector): Vector { + return VectorOps.fromRaw(this.raw.solver_contact_tangent_velocity(i)!, target)!; } } diff --git a/packages/rapier-3d/src/geometry/point.ts b/packages/rapier-3d/src/geometry/point.ts new file mode 100644 index 00000000..b784eeda --- /dev/null +++ b/packages/rapier-3d/src/geometry/point.ts @@ -0,0 +1,91 @@ +import {Vector, VectorOps} from "../math"; +import {RawPointColliderProjection, RawPointProjection} from "../raw"; +import {Collider} from "./collider"; +import {ColliderSet} from "./collider_set"; +import {FeatureType} from "./feature"; + +/** + * The projection of a point on a collider. + */ +export class PointProjection { + /** + * The projection of the point on the collider. + */ + point: Vector; + /** + * Is the point inside of the collider? + */ + isInside: boolean; + + constructor(point: Vector, isInside: boolean) { + this.point = point; + this.isInside = isInside; + } + + public static fromRaw(raw: RawPointProjection): PointProjection | null { + if (!raw) return null; + + const result = new PointProjection(VectorOps.fromRaw(raw.point())!, raw.isInside()); + raw.free(); + return result; + } +} + +/** + * The projection of a point on a collider (includes the collider handle). + */ +export class PointColliderProjection { + /** + * The collider hit by the ray. + */ + collider: Collider; + /** + * The projection of the point on the collider. + */ + point: Vector; + /** + * Is the point inside of the collider? + */ + isInside: boolean; + + /** + * The type of the geometric feature the point was projected on. + */ + featureType = FeatureType.Unknown; + + /** + * The id of the geometric feature the point was projected on. + */ + featureId: number | undefined = undefined; + + constructor( + collider: Collider, + point: Vector, + isInside: boolean, + featureType?: FeatureType, + featureId?: number, + ) { + this.collider = collider; + this.point = point; + this.isInside = isInside; + if (featureId !== undefined) this.featureId = featureId; + if (featureType !== undefined) this.featureType = featureType; + } + + public static fromRaw( + colliderSet: ColliderSet, + raw: RawPointColliderProjection, + ): PointColliderProjection | null { + if (!raw) return null; + + const result = new PointColliderProjection( + colliderSet.get(raw.colliderHandle())!, + VectorOps.fromRaw(raw.point())!, + raw.isInside(), + raw.featureType() as number as FeatureType, + raw.featureId(), + ); + raw.free(); + return result; + } +} diff --git a/src.ts/geometry/ray.ts b/packages/rapier-3d/src/geometry/ray.ts similarity index 89% rename from src.ts/geometry/ray.ts rename to packages/rapier-3d/src/geometry/ray.ts index 36df5ee3..1f4d9c8a 100644 --- a/src.ts/geometry/ray.ts +++ b/packages/rapier-3d/src/geometry/ray.ts @@ -1,13 +1,8 @@ import {Vector, VectorOps} from "../math"; -import { - RawFeatureType, - RawRayColliderIntersection, - RawRayColliderHit, - RawRayIntersection, -} from "../raw"; +import {RawRayColliderIntersection, RawRayColliderHit, RawRayIntersection} from "../raw"; import {Collider} from "./collider"; -import {FeatureType} from "./feature"; import {ColliderSet} from "./collider_set"; +import {FeatureType} from "./feature"; /** * A ray. This is a directed half-line. @@ -37,9 +32,7 @@ export class Ray { return { x: this.origin.x + this.dir.x * t, y: this.origin.y + this.dir.y * t, - // #if DIM3 z: this.origin.z + this.dir.z * t, - // #endif }; } } @@ -81,12 +74,12 @@ export class RayIntersection { if (featureType !== undefined) this.featureType = featureType; } - public static fromRaw(raw: RawRayIntersection): RayIntersection { + public static fromRaw(raw: RawRayIntersection): RayIntersection | null { if (!raw) return null; const result = new RayIntersection( raw.time_of_impact(), - VectorOps.fromRaw(raw.normal()), + VectorOps.fromRaw(raw.normal())!, raw.featureType() as number as FeatureType, raw.featureId(), ); @@ -141,13 +134,13 @@ export class RayColliderIntersection { public static fromRaw( colliderSet: ColliderSet, raw: RawRayColliderIntersection, - ): RayColliderIntersection { + ): RayColliderIntersection | null { if (!raw) return null; const result = new RayColliderIntersection( - colliderSet.get(raw.colliderHandle()), + colliderSet.get(raw.colliderHandle())!, raw.time_of_impact(), - VectorOps.fromRaw(raw.normal()), + VectorOps.fromRaw(raw.normal())!, raw.featureType() as number as FeatureType, raw.featureId(), ); @@ -176,14 +169,11 @@ export class RayColliderHit { this.timeOfImpact = timeOfImpact; } - public static fromRaw( - colliderSet: ColliderSet, - raw: RawRayColliderHit, - ): RayColliderHit { + public static fromRaw(colliderSet: ColliderSet, raw: RawRayColliderHit): RayColliderHit | null { if (!raw) return null; const result = new RayColliderHit( - colliderSet.get(raw.colliderHandle()), + colliderSet.get(raw.colliderHandle())!, raw.timeOfImpact(), ); raw.free(); diff --git a/src.ts/geometry/shape.ts b/packages/rapier-3d/src/geometry/shape.ts similarity index 73% rename from src.ts/geometry/shape.ts rename to packages/rapier-3d/src/geometry/shape.ts index f3546982..667634f2 100644 --- a/src.ts/geometry/shape.ts +++ b/packages/rapier-3d/src/geometry/shape.ts @@ -1,10 +1,10 @@ import {Vector, VectorOps, Rotation, RotationOps} from "../math"; import {RawColliderSet, RawShape, RawShapeType} from "../raw"; +import {ColliderHandle} from "./collider"; import {ShapeContact} from "./contact"; import {PointProjection} from "./point"; import {Ray, RayIntersection} from "./ray"; import {ShapeCastHit} from "./toi"; -import {ColliderHandle} from "./collider"; export abstract class Shape { public abstract intoRaw(): RawShape; @@ -17,10 +17,7 @@ export abstract class Shape { /** * instant mode without cache */ - public static fromRaw( - rawSet: RawColliderSet, - handle: ColliderHandle, - ): Shape { + public static fromRaw(rawSet: RawColliderSet, handle: ColliderHandle): Shape { const rawType = rawSet.coShapeType(handle); let extents: Vector; @@ -33,169 +30,105 @@ export abstract class Shape { switch (rawType) { case RawShapeType.Ball: - return new Ball(rawSet.coRadius(handle)); + return new Ball(rawSet.coRadius(handle)!); case RawShapeType.Cuboid: - extents = rawSet.coHalfExtents(handle); - // #if DIM2 - return new Cuboid(extents.x, extents.y); - // #endif + extents = rawSet.coHalfExtents(handle)!; - // #if DIM3 return new Cuboid(extents.x, extents.y, extents.z); - // #endif case RawShapeType.RoundCuboid: - extents = rawSet.coHalfExtents(handle); - borderRadius = rawSet.coRoundRadius(handle); - - // #if DIM2 - return new RoundCuboid(extents.x, extents.y, borderRadius); - // #endif - - // #if DIM3 - return new RoundCuboid( - extents.x, - extents.y, - extents.z, - borderRadius, - ); - // #endif + extents = rawSet.coHalfExtents(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; + + return new RoundCuboid(extents.x, extents.y, extents.z, borderRadius); case RawShapeType.Capsule: - halfHeight = rawSet.coHalfHeight(handle); - radius = rawSet.coRadius(handle); + halfHeight = rawSet.coHalfHeight(handle)!; + radius = rawSet.coRadius(handle)!; return new Capsule(halfHeight, radius); case RawShapeType.Segment: - vs = rawSet.coVertices(handle); - - // #if DIM2 - return new Segment( - VectorOps.new(vs[0], vs[1]), - VectorOps.new(vs[2], vs[3]), - ); - // #endif + vs = rawSet.coVertices(handle)!; - // #if DIM3 return new Segment( VectorOps.new(vs[0], vs[1], vs[2]), VectorOps.new(vs[3], vs[4], vs[5]), ); - // #endif case RawShapeType.Polyline: - vs = rawSet.coVertices(handle); - indices = rawSet.coIndices(handle); + vs = rawSet.coVertices(handle)!; + indices = rawSet.coIndices(handle)!; return new Polyline(vs, indices); case RawShapeType.Triangle: - vs = rawSet.coVertices(handle); - - // #if DIM2 - return new Triangle( - VectorOps.new(vs[0], vs[1]), - VectorOps.new(vs[2], vs[3]), - VectorOps.new(vs[4], vs[5]), - ); - // #endif + vs = rawSet.coVertices(handle)!; - // #if DIM3 return new Triangle( VectorOps.new(vs[0], vs[1], vs[2]), VectorOps.new(vs[3], vs[4], vs[5]), VectorOps.new(vs[6], vs[7], vs[8]), ); - // #endif case RawShapeType.RoundTriangle: - vs = rawSet.coVertices(handle); - borderRadius = rawSet.coRoundRadius(handle); - - // #if DIM2 - return new RoundTriangle( - VectorOps.new(vs[0], vs[1]), - VectorOps.new(vs[2], vs[3]), - VectorOps.new(vs[4], vs[5]), - borderRadius, - ); - // #endif + vs = rawSet.coVertices(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; - // #if DIM3 return new RoundTriangle( VectorOps.new(vs[0], vs[1], vs[2]), VectorOps.new(vs[3], vs[4], vs[5]), VectorOps.new(vs[6], vs[7], vs[8]), borderRadius, ); - // #endif case RawShapeType.HalfSpace: - normal = VectorOps.fromRaw(rawSet.coHalfspaceNormal(handle)); + normal = VectorOps.fromRaw(rawSet.coHalfspaceNormal(handle)!)!; return new HalfSpace(normal); case RawShapeType.Voxels: - const vox_data = rawSet.coVoxelData(handle); - const vox_size = rawSet.coVoxelSize(handle); + const vox_data = rawSet.coVoxelData(handle)!; + const vox_size = rawSet.coVoxelSize(handle)!; return new Voxels(vox_data, vox_size); case RawShapeType.TriMesh: - vs = rawSet.coVertices(handle); - indices = rawSet.coIndices(handle); + vs = rawSet.coVertices(handle)!; + indices = rawSet.coIndices(handle)!; const tri_flags = rawSet.coTriMeshFlags(handle); return new TriMesh(vs, indices, tri_flags); case RawShapeType.HeightField: - const scale = rawSet.coHeightfieldScale(handle); - const heights = rawSet.coHeightfieldHeights(handle); + const scale = rawSet.coHeightfieldScale(handle)!; + const heights = rawSet.coHeightfieldHeights(handle)!; - // #if DIM2 - return new Heightfield(heights, scale); - // #endif - - // #if DIM3 - const nrows = rawSet.coHeightfieldNRows(handle); - const ncols = rawSet.coHeightfieldNCols(handle); + const nrows = rawSet.coHeightfieldNRows(handle)!; + const ncols = rawSet.coHeightfieldNCols(handle)!; const hf_flags = rawSet.coHeightFieldFlags(handle); return new Heightfield(nrows, ncols, heights, scale, hf_flags); - // #endif - - // #if DIM2 - case RawShapeType.ConvexPolygon: - vs = rawSet.coVertices(handle); - return new ConvexPolygon(vs, false); - case RawShapeType.RoundConvexPolygon: - vs = rawSet.coVertices(handle); - borderRadius = rawSet.coRoundRadius(handle); - return new RoundConvexPolygon(vs, borderRadius, false); - // #endif - - // #if DIM3 + case RawShapeType.ConvexPolyhedron: - vs = rawSet.coVertices(handle); - indices = rawSet.coIndices(handle); + vs = rawSet.coVertices(handle)!; + indices = rawSet.coIndices(handle)!; return new ConvexPolyhedron(vs, indices); case RawShapeType.RoundConvexPolyhedron: - vs = rawSet.coVertices(handle); - indices = rawSet.coIndices(handle); - borderRadius = rawSet.coRoundRadius(handle); + vs = rawSet.coVertices(handle)!; + indices = rawSet.coIndices(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; return new RoundConvexPolyhedron(vs, indices, borderRadius); case RawShapeType.Cylinder: - halfHeight = rawSet.coHalfHeight(handle); - radius = rawSet.coRadius(handle); + halfHeight = rawSet.coHalfHeight(handle)!; + radius = rawSet.coRadius(handle)!; return new Cylinder(halfHeight, radius); case RawShapeType.RoundCylinder: - halfHeight = rawSet.coHalfHeight(handle); - radius = rawSet.coRadius(handle); - borderRadius = rawSet.coRoundRadius(handle); + halfHeight = rawSet.coHalfHeight(handle)!; + radius = rawSet.coRadius(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; return new RoundCylinder(halfHeight, radius, borderRadius); case RawShapeType.Cone: - halfHeight = rawSet.coHalfHeight(handle); - radius = rawSet.coRadius(handle); + halfHeight = rawSet.coHalfHeight(handle)!; + radius = rawSet.coRadius(handle)!; return new Cone(halfHeight, radius); case RawShapeType.RoundCone: - halfHeight = rawSet.coHalfHeight(handle); - radius = rawSet.coRadius(handle); - borderRadius = rawSet.coRoundRadius(handle); + halfHeight = rawSet.coHalfHeight(handle)!; + radius = rawSet.coRadius(handle)!; + borderRadius = rawSet.coRoundRadius(handle)!; return new RoundCone(halfHeight, radius, borderRadius); - // #endif default: throw new Error("unknown shape type: " + rawType); @@ -256,7 +189,7 @@ export abstract class Shape { targetDistance, maxToi, stopAtPenetration, - ), + )!, ); rawPos1.free(); @@ -297,13 +230,7 @@ export abstract class Shape { let rawShape1 = this.intoRaw(); let rawShape2 = shape2.intoRaw(); - let result = rawShape1.intersectsShape( - rawPos1, - rawRot1, - rawShape2, - rawPos2, - rawRot2, - ); + let result = rawShape1.intersectsShape(rawPos1, rawRot1, rawShape2, rawPos2, rawRot2); rawPos1.free(); rawRot1.free(); @@ -344,14 +271,7 @@ export abstract class Shape { let rawShape2 = shape2.intoRaw(); let result = ShapeContact.fromRaw( - rawShape1.contactShape( - rawPos1, - rawRot1, - rawShape2, - rawPos2, - rawRot2, - prediction, - ), + rawShape1.contactShape(rawPos1, rawRot1, rawShape2, rawPos2, rawRot2, prediction)!, ); rawPos1.free(); @@ -365,11 +285,7 @@ export abstract class Shape { return result; } - containsPoint( - shapePos: Vector, - shapeRot: Rotation, - point: Vector, - ): boolean { + containsPoint(shapePos: Vector, shapeRot: Rotation, point: Vector): boolean { let rawPos = VectorOps.intoRaw(shapePos); let rawRot = RotationOps.intoRaw(shapeRot); let rawPoint = VectorOps.intoRaw(point); @@ -405,28 +321,17 @@ export abstract class Shape { rawPoint.free(); rawShape.free(); - return result; + return result!; } - intersectsRay( - ray: Ray, - shapePos: Vector, - shapeRot: Rotation, - maxToi: number, - ): boolean { + intersectsRay(ray: Ray, shapePos: Vector, shapeRot: Rotation, maxToi: number): boolean { let rawPos = VectorOps.intoRaw(shapePos); let rawRot = RotationOps.intoRaw(shapeRot); let rawRayOrig = VectorOps.intoRaw(ray.origin); let rawRayDir = VectorOps.intoRaw(ray.dir); let rawShape = this.intoRaw(); - let result = rawShape.intersectsRay( - rawPos, - rawRot, - rawRayOrig, - rawRayDir, - maxToi, - ); + let result = rawShape.intersectsRay(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi); rawPos.free(); rawRot.free(); @@ -450,14 +355,7 @@ export abstract class Shape { let rawRayDir = VectorOps.intoRaw(ray.dir); let rawShape = this.intoRaw(); - let result = rawShape.castRay( - rawPos, - rawRot, - rawRayOrig, - rawRayDir, - maxToi, - solid, - ); + let result = rawShape.castRay(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi, solid); rawPos.free(); rawRot.free(); @@ -482,14 +380,7 @@ export abstract class Shape { let rawShape = this.intoRaw(); let result = RayIntersection.fromRaw( - rawShape.castRayAndGetNormal( - rawPos, - rawRot, - rawRayOrig, - rawRayDir, - maxToi, - solid, - ), + rawShape.castRayAndGetNormal(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi, solid)!, ); rawPos.free(); @@ -498,36 +389,10 @@ export abstract class Shape { rawRayDir.free(); rawShape.free(); - return result; + return result!; } } -// #if DIM2 -/** - * An enumeration representing the type of a shape. - */ -export enum ShapeType { - Ball = 0, - Cuboid = 1, - Capsule = 2, - Segment = 3, - Polyline = 4, - Triangle = 5, - TriMesh = 6, - HeightField = 7, - // Compound = 8, - ConvexPolygon = 9, - RoundCuboid = 10, - RoundTriangle = 11, - RoundConvexPolygon = 12, - HalfSpace = 13, - Voxels = 14, -} - -// #endif - -// #if DIM3 - /** * An enumeration representing the type of a shape. */ @@ -569,8 +434,6 @@ export enum HeightFieldFlags { FIX_INTERNAL_EDGES = 0b0000_0001, } -// #endif - // NOTE: this **must** match the TriMeshFlags on the rust side. /** * Flags controlling the behavior of the triangle mesh creation and of some @@ -699,20 +562,6 @@ export class Cuboid extends Shape { */ halfExtents: Vector; - // #if DIM2 - /** - * Creates a new 2D rectangle. - * @param hx - The half width of the rectangle. - * @param hy - The helf height of the rectangle. - */ - constructor(hx: number, hy: number) { - super(); - this.halfExtents = VectorOps.new(hx, hy); - } - - // #endif - - // #if DIM3 /** * Creates a new 3D cuboid. * @param hx - The half width of the cuboid. @@ -724,20 +573,8 @@ export class Cuboid extends Shape { this.halfExtents = VectorOps.new(hx, hy, hz); } - // #endif - public intoRaw(): RawShape { - // #if DIM2 - return RawShape.cuboid(this.halfExtents.x, this.halfExtents.y); - // #endif - - // #if DIM3 - return RawShape.cuboid( - this.halfExtents.x, - this.halfExtents.y, - this.halfExtents.z, - ); - // #endif + return RawShape.cuboid(this.halfExtents.x, this.halfExtents.y, this.halfExtents.z); } } @@ -757,23 +594,6 @@ export class RoundCuboid extends Shape { */ borderRadius: number; - // #if DIM2 - /** - * Creates a new 2D rectangle. - * @param hx - The half width of the rectangle. - * @param hy - The helf height of the rectangle. - * @param borderRadius - The radius of the borders of this cuboid. This will - * effectively increase the half-extents of the cuboid by this radius. - */ - constructor(hx: number, hy: number, borderRadius: number) { - super(); - this.halfExtents = VectorOps.new(hx, hy); - this.borderRadius = borderRadius; - } - - // #endif - - // #if DIM3 /** * Creates a new 3D cuboid. * @param hx - The half width of the cuboid. @@ -788,25 +608,13 @@ export class RoundCuboid extends Shape { this.borderRadius = borderRadius; } - // #endif - public intoRaw(): RawShape { - // #if DIM2 - return RawShape.roundCuboid( - this.halfExtents.x, - this.halfExtents.y, - this.borderRadius, - ); - // #endif - - // #if DIM3 return RawShape.roundCuboid( this.halfExtents.x, this.halfExtents.y, this.halfExtents.z, this.borderRadius, ); - // #endif } } @@ -1084,7 +892,7 @@ export class TriMesh extends Shape { /** * The triangle mesh flags. */ - flags: TriMeshFlags; + flags?: TriMeshFlags; /** * Creates a new triangle mesh shape. @@ -1092,11 +900,7 @@ export class TriMesh extends Shape { * @param vertices - The coordinates of the triangle mesh's vertices. * @param indices - The indices of the triangle mesh's triangles. */ - constructor( - vertices: Float32Array, - indices: Uint32Array, - flags?: TriMeshFlags, - ) { + constructor(vertices: Float32Array, indices: Uint32Array, flags?: TriMeshFlags) { super(); this.vertices = vertices; this.indices = indices; @@ -1104,142 +908,10 @@ export class TriMesh extends Shape { } public intoRaw(): RawShape { - return RawShape.trimesh(this.vertices, this.indices, this.flags); - } -} - -// #if DIM2 -/** - * A shape that is a convex polygon. - */ -export class ConvexPolygon extends Shape { - readonly type = ShapeType.ConvexPolygon; - - /** - * The vertices of the convex polygon. - */ - vertices: Float32Array; - - /** - * Do we want to assume the vertices already form a convex hull? - */ - skipConvexHullComputation: boolean; - - /** - * Creates a new convex polygon shape. - * - * @param vertices - The coordinates of the convex polygon's vertices. - * @param skipConvexHullComputation - If set to `true`, the input points will - * be assumed to form a convex polyline and no convex-hull computation will - * be done automatically. - */ - constructor(vertices: Float32Array, skipConvexHullComputation: boolean) { - super(); - this.vertices = vertices; - this.skipConvexHullComputation = !!skipConvexHullComputation; - } - - public intoRaw(): RawShape { - if (this.skipConvexHullComputation) { - return RawShape.convexPolyline(this.vertices); - } else { - return RawShape.convexHull(this.vertices); - } + return RawShape.trimesh(this.vertices, this.indices, this.flags ?? 0)!; } } -/** - * A shape that is a convex polygon. - */ -export class RoundConvexPolygon extends Shape { - readonly type = ShapeType.RoundConvexPolygon; - - /** - * The vertices of the convex polygon. - */ - vertices: Float32Array; - - /** - * Do we want to assume the vertices already form a convex hull? - */ - skipConvexHullComputation: boolean; - - /** - * The radius of the convex polygon's rounded edges and vertices. - */ - borderRadius: number; - - /** - * Creates a new convex polygon shape. - * - * @param vertices - The coordinates of the convex polygon's vertices. - * @param borderRadius - The radius of the borders of this convex polygon. - * @param skipConvexHullComputation - If set to `true`, the input points will - * be assumed to form a convex polyline and no convex-hull computation will - * be done automatically. - */ - constructor( - vertices: Float32Array, - borderRadius: number, - skipConvexHullComputation: boolean, - ) { - super(); - this.vertices = vertices; - this.borderRadius = borderRadius; - this.skipConvexHullComputation = !!skipConvexHullComputation; - } - - public intoRaw(): RawShape { - if (this.skipConvexHullComputation) { - return RawShape.roundConvexPolyline( - this.vertices, - this.borderRadius, - ); - } else { - return RawShape.roundConvexHull(this.vertices, this.borderRadius); - } - } -} - -/** - * A shape that is a heightfield. - */ -export class Heightfield extends Shape { - readonly type = ShapeType.HeightField; - - /** - * The heights of the heightfield, along its local `y` axis. - */ - heights: Float32Array; - - /** - * The heightfield's length along its local `x` axis. - */ - scale: Vector; - - /** - * Creates a new heightfield shape. - * - * @param heights - The heights of the heightfield, along its local `y` axis. - * @param scale - The scale factor applied to the heightfield. - */ - constructor(heights: Float32Array, scale: Vector) { - super(); - this.heights = heights; - this.scale = scale; - } - - public intoRaw(): RawShape { - let rawScale = VectorOps.intoRaw(this.scale); - let rawShape = RawShape.heightfield(this.heights, rawScale); - rawScale.free(); - return rawShape; - } -} - -// #endif - -// #if DIM3 /** * A shape that is a convex polygon. */ @@ -1273,9 +945,9 @@ export class ConvexPolyhedron extends Shape { public intoRaw(): RawShape { if (!!this.indices) { - return RawShape.convexMesh(this.vertices, this.indices); + return RawShape.convexMesh(this.vertices, this.indices)!; } else { - return RawShape.convexHull(this.vertices); + return RawShape.convexHull(this.vertices)!; } } } @@ -1294,7 +966,7 @@ export class RoundConvexPolyhedron extends Shape { /** * The indices of the convex polygon. */ - indices?: Uint32Array; + indices?: Uint32Array | null; /** * The radius of the convex polyhedron's rounded edges and vertices. @@ -1324,13 +996,9 @@ export class RoundConvexPolyhedron extends Shape { public intoRaw(): RawShape { if (!!this.indices) { - return RawShape.roundConvexMesh( - this.vertices, - this.indices, - this.borderRadius, - ); + return RawShape.roundConvexMesh(this.vertices, this.indices, this.borderRadius)!; } else { - return RawShape.roundConvexHull(this.vertices, this.borderRadius); + return RawShape.roundConvexHull(this.vertices, this.borderRadius)!; } } } @@ -1365,7 +1033,7 @@ export class Heightfield extends Shape { /** * Flags applied to the heightfield. */ - flags: HeightFieldFlags; + flags?: HeightFieldFlags; /** * Creates a new heightfield shape. @@ -1398,7 +1066,7 @@ export class Heightfield extends Shape { this.ncols, this.heights, rawScale, - this.flags, + this.flags ?? 0, ); rawScale.free(); return rawShape; @@ -1472,11 +1140,7 @@ export class RoundCylinder extends Shape { } public intoRaw(): RawShape { - return RawShape.roundCylinder( - this.halfHeight, - this.radius, - this.borderRadius, - ); + return RawShape.roundCylinder(this.halfHeight, this.radius, this.borderRadius); } } @@ -1547,12 +1211,6 @@ export class RoundCone extends Shape { } public intoRaw(): RawShape { - return RawShape.roundCone( - this.halfHeight, - this.radius, - this.borderRadius, - ); + return RawShape.roundCone(this.halfHeight, this.radius, this.borderRadius); } } - -// #endif diff --git a/packages/rapier-3d/src/geometry/toi.ts b/packages/rapier-3d/src/geometry/toi.ts new file mode 100644 index 00000000..890362de --- /dev/null +++ b/packages/rapier-3d/src/geometry/toi.ts @@ -0,0 +1,105 @@ +import {Vector, VectorOps} from "../math"; +import {RawShapeCastHit, RawColliderShapeCastHit} from "../raw"; +import {Collider} from "./collider"; +import {ColliderSet} from "./collider_set"; + +/** + * The intersection between a ray and a collider. + */ +export class ShapeCastHit { + /** + * The time of impact of the two shapes. + */ + time_of_impact: number; + /** + * The local-space contact point on the first shape, at + * the time of impact. + */ + witness1: Vector; + /** + * The local-space contact point on the second shape, at + * the time of impact. + */ + witness2: Vector; + /** + * The local-space normal on the first shape, at + * the time of impact. + */ + normal1: Vector; + /** + * The local-space normal on the second shape, at + * the time of impact. + */ + normal2: Vector; + + constructor( + time_of_impact: number, + witness1: Vector, + witness2: Vector, + normal1: Vector, + normal2: Vector, + ) { + this.time_of_impact = time_of_impact; + this.witness1 = witness1; + this.witness2 = witness2; + this.normal1 = normal1; + this.normal2 = normal2; + } + + public static fromRaw( + colliderSet: ColliderSet | null, + raw: RawShapeCastHit, + ): ShapeCastHit | null { + if (!raw) return null; + + const result = new ShapeCastHit( + raw.time_of_impact(), + VectorOps.fromRaw(raw.witness1())!, + VectorOps.fromRaw(raw.witness2())!, + VectorOps.fromRaw(raw.normal1())!, + VectorOps.fromRaw(raw.normal2())!, + ); + raw.free(); + return result; + } +} + +/** + * The intersection between a ray and a collider. + */ +export class ColliderShapeCastHit extends ShapeCastHit { + /** + * The handle of the collider hit by the ray. + */ + collider: Collider; + + constructor( + collider: Collider, + time_of_impact: number, + witness1: Vector, + witness2: Vector, + normal1: Vector, + normal2: Vector, + ) { + super(time_of_impact, witness1, witness2, normal1, normal2); + this.collider = collider; + } + + public static fromRaw( + colliderSet: ColliderSet, + raw: RawColliderShapeCastHit, + ): ColliderShapeCastHit | null { + if (!raw) return null; + + const result = new ColliderShapeCastHit( + colliderSet.get(raw.colliderHandle())!, + raw.time_of_impact(), + VectorOps.fromRaw(raw.witness1())!, + VectorOps.fromRaw(raw.witness2())!, + VectorOps.fromRaw(raw.normal1())!, + VectorOps.fromRaw(raw.normal2())!, + ); + raw.free(); + return result; + } +} diff --git a/packages/rapier-3d/src/init-compat-simd.ts b/packages/rapier-3d/src/init-compat-simd.ts new file mode 100644 index 00000000..3265b18d --- /dev/null +++ b/packages/rapier-3d/src/init-compat-simd.ts @@ -0,0 +1,13 @@ +import base64 from "base64-js"; +import {initSync} from "../wasm/release-simd/rapier_wasm_3d"; +// @ts-ignore - WASM file imported as base64 string by bundler +import wasmBase64 from "../wasm/release-simd/rapier_wasm_3d_bg.wasm"; + +/** + * Initializes RAPIER SIMD with embedded WASM (no separate file needed). + * Has to be called and awaited before using any library methods. + */ +export async function init() { + const wasmBytes = base64.toByteArray(wasmBase64 as unknown as string); + initSync(wasmBytes.buffer); +} diff --git a/packages/rapier-3d/src/init-compat.ts b/packages/rapier-3d/src/init-compat.ts new file mode 100644 index 00000000..5ccd33b6 --- /dev/null +++ b/packages/rapier-3d/src/init-compat.ts @@ -0,0 +1,13 @@ +import base64 from "base64-js"; +import {initSync} from "../wasm/release/rapier_wasm_3d"; +// @ts-ignore - WASM file imported as base64 string by bundler +import wasmBase64 from "../wasm/release/rapier_wasm_3d_bg.wasm"; + +/** + * Initializes RAPIER with embedded WASM (no separate file needed). + * Has to be called and awaited before using any library methods. + */ +export async function init() { + const wasmBytes = base64.toByteArray(wasmBase64 as unknown as string); + initSync(wasmBytes.buffer); +} diff --git a/packages/rapier-3d/src/init-simd.ts b/packages/rapier-3d/src/init-simd.ts new file mode 100644 index 00000000..c1beff08 --- /dev/null +++ b/packages/rapier-3d/src/init-simd.ts @@ -0,0 +1,12 @@ +import wasmInit, {InitInput} from "../wasm/release-simd/rapier_wasm_3d"; + +/** + * Initializes RAPIER SIMD using fetch (requires WASM file to be served). + * Has to be called and awaited before using any library methods. + */ +export async function init(input?: InitInput) { + if (!input) { + input = new URL("rapier_wasm_3d_simd_bg.wasm", import.meta.url); + } + await wasmInit(input); +} diff --git a/packages/rapier-3d/src/init.ts b/packages/rapier-3d/src/init.ts new file mode 100644 index 00000000..e07f796a --- /dev/null +++ b/packages/rapier-3d/src/init.ts @@ -0,0 +1,12 @@ +import wasmInit, {InitInput} from "../wasm/release/rapier_wasm_3d"; + +/** + * Initializes RAPIER using fetch (requires WASM file to be served). + * Has to be called and awaited before using any library methods. + */ +export async function init(input?: InitInput) { + if (!input) { + input = new URL("rapier_wasm_3d_bg.wasm", import.meta.url); + } + await wasmInit(input); +} diff --git a/src.ts/math.ts b/packages/rapier-3d/src/math.ts similarity index 65% rename from src.ts/math.ts rename to packages/rapier-3d/src/math.ts index ebca392b..e5a128c0 100644 --- a/src.ts/math.ts +++ b/packages/rapier-3d/src/math.ts @@ -1,81 +1,5 @@ -import {RawVector, RawRotation} from "./raw"; -// #if DIM3 -import {RawSdpMatrix3} from "./raw"; -// #endif +import {RawVector, RawRotation, RawSdpMatrix3} from "./raw"; -// #if DIM2 -export interface Vector { - x: number; - y: number; -} - -/** - * A 2D vector. - */ -export class Vector2 implements Vector { - x: number; - y: number; - - constructor(x: number, y: number) { - this.x = x; - this.y = y; - } -} - -export class VectorOps { - public static new(x: number, y: number): Vector { - return new Vector2(x, y); - } - - public static zeros(): Vector { - return VectorOps.new(0.0, 0.0); - } - - // FIXME: type ram: RawVector? - public static fromRaw(raw: RawVector): Vector { - if (!raw) return null; - - let res = VectorOps.new(raw.x, raw.y); - raw.free(); - return res; - } - - public static intoRaw(v: Vector): RawVector { - return new RawVector(v.x, v.y); - } - - public static copy(out: Vector, input: Vector) { - out.x = input.x; - out.y = input.y; - } -} - -/** - * A rotation angle in radians. - */ -export type Rotation = number; - -export class RotationOps { - public static identity(): number { - return 0.0; - } - - public static fromRaw(raw: RawRotation): Rotation { - if (!raw) return null; - - let res = raw.angle; - raw.free(); - return res; - } - - public static intoRaw(angle: Rotation): RawRotation { - return RawRotation.fromAngle(angle); - } -} - -// #endif - -// #if DIM3 export interface Vector { x: number; y: number; @@ -110,13 +34,15 @@ export class VectorOps { return VectorOps.new(0.0, 0.0, 0.0); } - // FIXME: type ram: RawVector? - public static fromRaw(raw: RawVector): Vector { + public static fromRaw(raw: RawVector, target?: Vector): Vector | null { if (!raw) return null; - let res = VectorOps.new(raw.x, raw.y, raw.z); + target ??= VectorOps.zeros(); + target.x = raw.x; + target.y = raw.y; + target.z = raw.z; raw.free(); - return res; + return target; } public static copy(out: Vector, input: Vector) { @@ -124,6 +50,14 @@ export class VectorOps { out.y = input.y; out.z = input.z; } + + public static fromBuffer(buffer: Float32Array, target?: Vector): Vector { + target ??= VectorOps.zeros(); + target.x = buffer[0]; + target.y = buffer[1]; + target.z = buffer[2]; + return target; + } } export interface Rotation { @@ -155,12 +89,16 @@ export class RotationOps { return new Quaternion(0.0, 0.0, 0.0, 1.0); } - public static fromRaw(raw: RawRotation): Rotation { + public static fromRaw(raw: RawRotation, target?: Rotation): Rotation | null { if (!raw) return null; - let res = new Quaternion(raw.x, raw.y, raw.z, raw.w); + target ??= RotationOps.identity(); + target.x = raw.x; + target.y = raw.y; + target.z = raw.z; + target.w = raw.w; raw.free(); - return res; + return target; } public static intoRaw(rot: Rotation): RawRotation { @@ -173,6 +111,15 @@ export class RotationOps { out.z = input.z; out.w = input.w; } + + public static fromBuffer(buffer: Float32Array, target?: Rotation): Rotation { + target ??= RotationOps.identity(); + target.x = buffer[0]; + target.y = buffer[1]; + target.z = buffer[2]; + target.w = buffer[3]; + return target; + } } /** @@ -259,5 +206,3 @@ export class SdpMatrix3Ops { return sdpMatrix3; } } - -// #endif diff --git a/packages/rapier-3d/src/pipeline/debug_render_pipeline.ts b/packages/rapier-3d/src/pipeline/debug_render_pipeline.ts new file mode 100644 index 00000000..9b42dd67 --- /dev/null +++ b/packages/rapier-3d/src/pipeline/debug_render_pipeline.ts @@ -0,0 +1,78 @@ +import {ImpulseJointSet, MultibodyJointSet, RigidBodySet} from "../dynamics"; +import {Collider, ColliderSet, NarrowPhase} from "../geometry"; +import {RawDebugRenderPipeline} from "../raw"; +import {QueryFilterFlags} from "./query_pipeline"; + +/** + * The vertex and color buffers for debug-redering the physics scene. + */ +export class DebugRenderBuffers { + /** + * The lines to render. This is a flat array containing all the lines + * to render. Each line is described as two consecutive point. Each + * point is described as two (in 2D) or three (in 3D) consecutive + * floats. For example, in 2D, the array: `[1, 2, 3, 4, 5, 6, 7, 8]` + * describes the two segments `[[1, 2], [3, 4]]` and `[[5, 6], [7, 8]]`. + */ + public vertices: Float32Array; + /** + * The color buffer. There is one color per vertex, and each color + * has four consecutive components (in RGBA format). + */ + public colors: Float32Array; + + constructor(vertices: Float32Array, colors: Float32Array) { + this.vertices = vertices; + this.colors = colors; + } +} + +/** + * A pipeline for rendering the physics scene. + * + * To avoid leaking WASM resources, this MUST be freed manually with `debugRenderPipeline.free()` + * once you are done using it (and all the rigid-bodies it created). + */ +export class DebugRenderPipeline { + raw: RawDebugRenderPipeline; + public vertices!: Float32Array; + public colors!: Float32Array; + + /** + * Release the WASM memory occupied by this serialization pipeline. + */ + free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + this.vertices = undefined!; + this.colors = undefined!; + } + + constructor(raw?: RawDebugRenderPipeline) { + this.raw = raw || new RawDebugRenderPipeline(); + } + + public render( + bodies: RigidBodySet, + colliders: ColliderSet, + impulse_joints: ImpulseJointSet, + multibody_joints: MultibodyJointSet, + narrow_phase: NarrowPhase, + filterFlags?: QueryFilterFlags, + filterPredicate?: (collider: Collider) => boolean, + ) { + this.raw.render( + bodies.raw, + colliders.raw, + impulse_joints.raw, + multibody_joints.raw, + narrow_phase.raw, + filterFlags ?? 0, + colliders.castClosure(filterPredicate) as unknown as Function, + ); + this.vertices = this.raw.vertices(); + this.colors = this.raw.colors(); + } +} diff --git a/src.ts/pipeline/event_queue.ts b/packages/rapier-3d/src/pipeline/event_queue.ts similarity index 91% rename from src.ts/pipeline/event_queue.ts rename to packages/rapier-3d/src/pipeline/event_queue.ts index e39c1582..91645636 100644 --- a/src.ts/pipeline/event_queue.ts +++ b/packages/rapier-3d/src/pipeline/event_queue.ts @@ -1,7 +1,6 @@ -import {RawContactForceEvent, RawEventQueue} from "../raw"; -import {RigidBodyHandle} from "../dynamics"; -import {Collider, ColliderHandle} from "../geometry"; +import {ColliderHandle} from "../geometry"; import {Vector, VectorOps} from "../math"; +import {RawContactForceEvent, RawEventQueue} from "../raw"; /** * Flags indicating what events are enabled for colliders. @@ -26,13 +25,13 @@ export enum ActiveEvents { * read from within the closure given to `EventHandler.drainContactForceEvents`. */ export class TempContactForceEvent { - raw: RawContactForceEvent; + raw!: RawContactForceEvent; public free() { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } /** @@ -53,7 +52,7 @@ export class TempContactForceEvent { * The sum of all the forces between the two colliders. */ public totalForce(): Vector { - return VectorOps.fromRaw(this.raw.total_force()); + return VectorOps.fromRaw(this.raw.total_force())!; } /** @@ -71,7 +70,7 @@ export class TempContactForceEvent { * The world-space (unit) direction of the force with strongest magnitude. */ public maxForceDirection(): Vector { - return VectorOps.fromRaw(this.raw.max_force_direction()); + return VectorOps.fromRaw(this.raw.max_force_direction())!; } /** @@ -111,7 +110,7 @@ export class EventQueue { if (!!this.raw) { this.raw.free(); } - this.raw = undefined; + this.raw = undefined!; } /** @@ -124,11 +123,7 @@ export class EventQueue { * (false). */ public drainCollisionEvents( - f: ( - handle1: ColliderHandle, - handle2: ColliderHandle, - started: boolean, - ) => void, + f: (handle1: ColliderHandle, handle2: ColliderHandle, started: boolean) => void, ) { this.raw.drainCollisionEvents(f); } diff --git a/packages/rapier-3d/src/pipeline/index.ts b/packages/rapier-3d/src/pipeline/index.ts new file mode 100644 index 00000000..092c1a59 --- /dev/null +++ b/packages/rapier-3d/src/pipeline/index.ts @@ -0,0 +1,7 @@ +export * from "./world"; +export * from "./physics_pipeline"; +export * from "./serialization_pipeline"; +export * from "./event_queue"; +export * from "./physics_hooks"; +export * from "./debug_render_pipeline"; +export * from "./query_pipeline"; diff --git a/packages/rapier-3d/src/pipeline/physics_hooks.ts b/packages/rapier-3d/src/pipeline/physics_hooks.ts new file mode 100644 index 00000000..20e12ad9 --- /dev/null +++ b/packages/rapier-3d/src/pipeline/physics_hooks.ts @@ -0,0 +1,54 @@ +import {RigidBodyHandle} from "../dynamics"; +import {ColliderHandle} from "../geometry"; + +export enum ActiveHooks { + NONE = 0, + FILTER_CONTACT_PAIRS = 0b0001, + FILTER_INTERSECTION_PAIRS = 0b0010, + // MODIFY_SOLVER_CONTACTS = 0b0100, /* Not supported yet in JS. */ +} + +export enum SolverFlags { + EMPTY = 0b000, + COMPUTE_IMPULSE = 0b001, +} + +export interface PhysicsHooks { + /** + * Function that determines if contacts computation should happen between two colliders, and how the + * constraints solver should behave for these contacts. + * + * This will only be executed and taken into account if at least one of the involved colliders contains the + * `ActiveHooks.FILTER_CONTACT_PAIR` flag in its active hooks. + * + * @param collider1 − Handle of the first collider involved in the potential contact. + * @param collider2 − Handle of the second collider involved in the potential contact. + * @param body1 − Handle of the first body involved in the potential contact. + * @param body2 − Handle of the second body involved in the potential contact. + */ + filterContactPair( + collider1: ColliderHandle, + collider2: ColliderHandle, + body1: RigidBodyHandle, + body2: RigidBodyHandle, + ): SolverFlags | null; + + /** + * Function that determines if intersection computation should happen between two colliders (where at least + * one is a sensor). + * + * This will only be executed and taken into account if `one of the involved colliders contains the + * `ActiveHooks.FILTER_INTERSECTION_PAIR` flag in its active hooks. + * + * @param collider1 − Handle of the first collider involved in the potential contact. + * @param collider2 − Handle of the second collider involved in the potential contact. + * @param body1 − Handle of the first body involved in the potential contact. + * @param body2 − Handle of the second body involved in the potential contact. + */ + filterIntersectionPair( + collider1: ColliderHandle, + collider2: ColliderHandle, + body1: RigidBodyHandle, + body2: RigidBodyHandle, + ): boolean; +} diff --git a/packages/rapier-3d/src/pipeline/physics_pipeline.ts b/packages/rapier-3d/src/pipeline/physics_pipeline.ts new file mode 100644 index 00000000..28980604 --- /dev/null +++ b/packages/rapier-3d/src/pipeline/physics_pipeline.ts @@ -0,0 +1,96 @@ +import { + IntegrationParameters, + ImpulseJointSet, + MultibodyJointSet, + RigidBodySet, + CCDSolver, + IslandManager, +} from "../dynamics"; +import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry"; +import {Vector, VectorOps} from "../math"; +import {RawPhysicsPipeline, RawVector} from "../raw"; +import {EventQueue} from "./event_queue"; +import {PhysicsHooks} from "./physics_hooks"; + +export class PhysicsPipeline { + raw: RawPhysicsPipeline; + private cachedGravity: RawVector | null = null; + private lastGravityX = 0; + private lastGravityY = 0; + private lastGravityZ = 0; + + public free() { + if (this.cachedGravity) { + this.cachedGravity.free(); + this.cachedGravity = null; + } + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined as unknown as RawPhysicsPipeline; + } + + constructor(raw?: RawPhysicsPipeline) { + this.raw = raw || new RawPhysicsPipeline(); + } + + public step( + gravity: Vector, + integrationParameters: IntegrationParameters, + islands: IslandManager, + broadPhase: BroadPhase, + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + impulseJoints: ImpulseJointSet, + multibodyJoints: MultibodyJointSet, + ccdSolver: CCDSolver, + eventQueue?: EventQueue, + hooks?: PhysicsHooks, + ) { + if ( + !this.cachedGravity || + gravity.x !== this.lastGravityX || + gravity.y !== this.lastGravityY || + gravity.z !== this.lastGravityZ + ) { + this.cachedGravity?.free(); + this.cachedGravity = VectorOps.intoRaw(gravity); + this.lastGravityX = gravity.x; + this.lastGravityY = gravity.y; + this.lastGravityZ = gravity.z; + } + + if (!!eventQueue) { + this.raw.stepWithEvents( + this.cachedGravity, + integrationParameters.raw, + islands.raw, + broadPhase.raw, + narrowPhase.raw, + bodies.raw, + colliders.raw, + impulseJoints.raw, + multibodyJoints.raw, + ccdSolver.raw, + eventQueue.raw, + hooks as object, + hooks?.filterContactPair as Function, + hooks?.filterIntersectionPair as Function, + ); + } else { + this.raw.step( + this.cachedGravity, + integrationParameters.raw, + islands.raw, + broadPhase.raw, + narrowPhase.raw, + bodies.raw, + colliders.raw, + impulseJoints.raw, + multibodyJoints.raw, + ccdSolver.raw, + ); + } + } +} diff --git a/packages/rapier-3d/src/pipeline/query_pipeline.ts b/packages/rapier-3d/src/pipeline/query_pipeline.ts new file mode 100644 index 00000000..dc4b1204 --- /dev/null +++ b/packages/rapier-3d/src/pipeline/query_pipeline.ts @@ -0,0 +1,41 @@ +// NOTE: must match the bits in the QueryFilterFlags on the Rust side. + +// NOTE: must match the bits in the QueryFilterFlags on the Rust side. +/** + * Flags for excluding whole sets of colliders from a scene query. + */ +export enum QueryFilterFlags { + /** + * Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached. + */ + EXCLUDE_FIXED = 0b0000_0001, + /** + * Exclude from the query any collider attached to a dynamic rigid-body. + */ + EXCLUDE_KINEMATIC = 0b0000_0010, + /** + * Exclude from the query any collider attached to a kinematic rigid-body. + */ + EXCLUDE_DYNAMIC = 0b0000_0100, + /** + * Exclude from the query any collider that is a sensor. + */ + EXCLUDE_SENSORS = 0b0000_1000, + /** + * Exclude from the query any collider that is not a sensor. + */ + EXCLUDE_SOLIDS = 0b0001_0000, + /** + * Excludes all colliders not attached to a dynamic rigid-body. + */ + ONLY_DYNAMIC = QueryFilterFlags.EXCLUDE_FIXED | QueryFilterFlags.EXCLUDE_KINEMATIC, + /** + * Excludes all colliders not attached to a kinematic rigid-body. + */ + ONLY_KINEMATIC = QueryFilterFlags.EXCLUDE_DYNAMIC | QueryFilterFlags.EXCLUDE_FIXED, + /** + * Exclude all colliders attached to a non-fixed rigid-body + * (this will not exclude colliders not attached to any rigid-body). + */ + ONLY_FIXED = QueryFilterFlags.EXCLUDE_DYNAMIC | QueryFilterFlags.EXCLUDE_KINEMATIC, +} diff --git a/packages/rapier-3d/src/pipeline/serialization_pipeline.ts b/packages/rapier-3d/src/pipeline/serialization_pipeline.ts new file mode 100644 index 00000000..5f0a25e0 --- /dev/null +++ b/packages/rapier-3d/src/pipeline/serialization_pipeline.ts @@ -0,0 +1,84 @@ +import { + IntegrationParameters, + IslandManager, + ImpulseJointSet, + MultibodyJointSet, + RigidBodySet, +} from "../dynamics"; +import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry"; +import {Vector, VectorOps} from "../math"; +import {RawSerializationPipeline} from "../raw"; +import {World} from "./world"; + +/** + * A pipeline for serializing the physics scene. + * + * To avoid leaking WASM resources, this MUST be freed manually with `serializationPipeline.free()` + * once you are done using it (and all the rigid-bodies it created). + */ +export class SerializationPipeline { + raw: RawSerializationPipeline; + + /** + * Release the WASM memory occupied by this serialization pipeline. + */ + free() { + if (!!this.raw) { + this.raw.free(); + } + this.raw = undefined!; + } + + constructor(raw?: RawSerializationPipeline) { + this.raw = raw || new RawSerializationPipeline(); + } + + /** + * Serialize a complete physics state into a single byte array. + * @param gravity - The current gravity affecting the simulation. + * @param integrationParameters - The integration parameters of the simulation. + * @param broadPhase - The broad-phase of the simulation. + * @param narrowPhase - The narrow-phase of the simulation. + * @param bodies - The rigid-bodies taking part into the simulation. + * @param colliders - The colliders taking part into the simulation. + * @param impulseJoints - The impulse joints taking part into the simulation. + * @param multibodyJoints - The multibody joints taking part into the simulation. + */ + public serializeAll( + gravity: Vector, + integrationParameters: IntegrationParameters, + islands: IslandManager, + broadPhase: BroadPhase, + narrowPhase: NarrowPhase, + bodies: RigidBodySet, + colliders: ColliderSet, + impulseJoints: ImpulseJointSet, + multibodyJoints: MultibodyJointSet, + ): Uint8Array { + let rawGra = VectorOps.intoRaw(gravity); + + const res = this.raw.serializeAll( + rawGra, + integrationParameters.raw, + islands.raw, + broadPhase.raw, + narrowPhase.raw, + bodies.raw, + colliders.raw, + impulseJoints.raw, + multibodyJoints.raw, + ); + rawGra.free(); + + return res!; + } + + /** + * Deserialize the complete physics state from a single byte array. + * + * @param data - The byte array to deserialize. + */ + public deserializeAll(data: Uint8Array): World | null { + return World.fromRaw(this.raw.deserializeAll(data)!); + } +} diff --git a/src.ts/pipeline/world.ts b/packages/rapier-3d/src/pipeline/world.ts similarity index 90% rename from src.ts/pipeline/world.ts rename to packages/rapier-3d/src/pipeline/world.ts index 9ee85616..82d4acf4 100644 --- a/src.ts/pipeline/world.ts +++ b/packages/rapier-3d/src/pipeline/world.ts @@ -1,19 +1,21 @@ +import {KinematicCharacterController, PidAxesMask, PidController} from "../control"; +import {DynamicRayCastVehicleController} from "../control"; import { - RawBroadPhase, - RawCCDSolver, - RawColliderSet, - RawDeserializedWorld, - RawIntegrationParameters, - RawIslandManager, - RawImpulseJointSet, - RawMultibodyJointSet, - RawNarrowPhase, - RawPhysicsPipeline, - RawRigidBodySet, - RawSerializationPipeline, - RawDebugRenderPipeline, -} from "../raw"; - + CCDSolver, + IntegrationParameters, + IslandManager, + ImpulseJoint, + ImpulseJointHandle, + MultibodyJoint, + MultibodyJointHandle, + JointData, + ImpulseJointSet, + MultibodyJointSet, + RigidBody, + RigidBodyDesc, + RigidBodyHandle, + RigidBodySet, +} from "../dynamics"; import { BroadPhase, Collider, @@ -30,40 +32,28 @@ import { ColliderShapeCastHit, TempContactManifold, } from "../geometry"; -import { - CCDSolver, - IntegrationParameters, - IslandManager, - ImpulseJoint, - ImpulseJointHandle, - MultibodyJoint, - MultibodyJointHandle, - JointData, - ImpulseJointSet, - MultibodyJointSet, - RigidBody, - RigidBodyDesc, - RigidBodyHandle, - RigidBodySet, -} from "../dynamics"; import {Rotation, Vector, VectorOps} from "../math"; +import { + RawBroadPhase, + RawCCDSolver, + RawColliderSet, + RawDeserializedWorld, + RawIntegrationParameters, + RawIslandManager, + RawImpulseJointSet, + RawMultibodyJointSet, + RawNarrowPhase, + RawPhysicsPipeline, + RawRigidBodySet, + RawSerializationPipeline, + RawDebugRenderPipeline, +} from "../raw"; +import {DebugRenderBuffers, DebugRenderPipeline} from "./debug_render_pipeline"; +import {EventQueue} from "./event_queue"; +import {PhysicsHooks} from "./physics_hooks"; import {PhysicsPipeline} from "./physics_pipeline"; import {QueryFilterFlags} from "./query_pipeline"; import {SerializationPipeline} from "./serialization_pipeline"; -import {EventQueue} from "./event_queue"; -import {PhysicsHooks} from "./physics_hooks"; -import {DebugRenderBuffers, DebugRenderPipeline} from "./debug_render_pipeline"; -import { - KinematicCharacterController, - PidAxesMask, - PidController, -} from "../control"; -import {Coarena} from "../coarena"; - -// #if DIM3 -import {DynamicRayCastVehicleController} from "../control"; - -// #endif /** * The physics world. @@ -88,11 +78,8 @@ export class World { characterControllers: Set; pidControllers: Set; - // #if DIM3 vehicleControllers: Set; - // #endif - /** * Release the WASM memory occupied by this physics world. * @@ -115,28 +102,24 @@ export class World { this.characterControllers.forEach((controller) => controller.free()); this.pidControllers.forEach((controller) => controller.free()); - // #if DIM3 this.vehicleControllers.forEach((controller) => controller.free()); - // #endif - - this.integrationParameters = undefined; - this.islands = undefined; - this.broadPhase = undefined; - this.narrowPhase = undefined; - this.bodies = undefined; - this.colliders = undefined; - this.ccdSolver = undefined; - this.impulseJoints = undefined; - this.multibodyJoints = undefined; - this.physicsPipeline = undefined; - this.serializationPipeline = undefined; - this.debugRenderPipeline = undefined; - this.characterControllers = undefined; - this.pidControllers = undefined; - - // #if DIM3 - this.vehicleControllers = undefined; - // #endif + + this.integrationParameters = undefined!; + this.islands = undefined!; + this.broadPhase = undefined!; + this.narrowPhase = undefined!; + this.bodies = undefined!; + this.colliders = undefined!; + this.ccdSolver = undefined!; + this.impulseJoints = undefined!; + this.multibodyJoints = undefined!; + this.physicsPipeline = undefined!; + this.serializationPipeline = undefined!; + this.debugRenderPipeline = undefined!; + this.characterControllers = undefined!; + this.pidControllers = undefined!; + + this.vehicleControllers = undefined!; } constructor( @@ -155,9 +138,7 @@ export class World { rawDebugRenderPipeline?: RawDebugRenderPipeline, ) { this.gravity = gravity; - this.integrationParameters = new IntegrationParameters( - rawIntegrationParameters, - ); + this.integrationParameters = new IntegrationParameters(rawIntegrationParameters); this.islands = new IslandManager(rawIslands); this.broadPhase = new BroadPhase(rawBroadPhase); this.narrowPhase = new NarrowPhase(rawNarrowPhase); @@ -167,29 +148,23 @@ export class World { this.multibodyJoints = new MultibodyJointSet(rawMultibodyJoints); this.ccdSolver = new CCDSolver(rawCCDSolver); this.physicsPipeline = new PhysicsPipeline(rawPhysicsPipeline); - this.serializationPipeline = new SerializationPipeline( - rawSerializationPipeline, - ); - this.debugRenderPipeline = new DebugRenderPipeline( - rawDebugRenderPipeline, - ); + this.serializationPipeline = new SerializationPipeline(rawSerializationPipeline); + this.debugRenderPipeline = new DebugRenderPipeline(rawDebugRenderPipeline); this.characterControllers = new Set(); this.pidControllers = new Set(); - // #if DIM3 this.vehicleControllers = new Set(); - // #endif this.impulseJoints.finalizeDeserialization(this.bodies); this.bodies.finalizeDeserialization(this.colliders); this.colliders.finalizeDeserialization(this.bodies); } - public static fromRaw(raw: RawDeserializedWorld): World { + public static fromRaw(raw: RawDeserializedWorld): World | null { if (!raw) return null; return new World( - VectorOps.fromRaw(raw.takeGravity()), + VectorOps.fromRaw(raw.takeGravity()!)!, raw.takeIntegrationParameters(), raw.takeIslandManager(), raw.takeBroadPhase(), @@ -226,7 +201,7 @@ export class World { * * This new physics world will be an identical copy of the snapshoted physics world. */ - public static restoreSnapshot(data: Uint8Array): World { + public static restoreSnapshot(data: Uint8Array): World | null { let deser = new SerializationPipeline(); return deser.deserializeAll(data); } @@ -290,9 +265,7 @@ export class World { * If the positions need to be updated without running a simulation step this method can be called manually. */ public propagateModifiedBodyPositionsToColliders() { - this.bodies.raw.propagateModifiedBodyPositionsToColliders( - this.colliders.raw, - ); + this.bodies.raw.propagateModifiedBodyPositionsToColliders(this.colliders.raw); } // TODO: This needs to trigger a broad-phase update but without emitting collision events? @@ -430,9 +403,7 @@ export class World { * * @param offset - The artificial gap added between the character’s chape and its environment. */ - public createCharacterController( - offset: number, - ): KinematicCharacterController { + public createCharacterController(offset: number): KinematicCharacterController { let controller = new KinematicCharacterController( offset, this.integrationParameters, @@ -498,7 +469,6 @@ export class World { controller.free(); } - // #if DIM3 /** * Creates a new vehicle controller. * @@ -506,9 +476,7 @@ export class World { * controller is updated, it will change directly the rigid-body’s velocity. This * rigid-body must be a dynamic or kinematic-velocity-based rigid-body. */ - public createVehicleController( - chassis: RigidBody, - ): DynamicRayCastVehicleController { + public createVehicleController(chassis: RigidBody): DynamicRayCastVehicleController { let controller = new DynamicRayCastVehicleController( chassis, this.broadPhase, @@ -525,15 +493,11 @@ export class World { * * @param controller - The vehicle controller to remove. */ - public removeVehicleController( - controller: DynamicRayCastVehicleController, - ) { + public removeVehicleController(controller: DynamicRayCastVehicleController) { this.vehicleControllers.delete(controller); controller.free(); } - // #endif - /** * Creates a new collider. * @@ -582,12 +546,7 @@ export class World { parent2: RigidBody, wakeUp: boolean, ): MultibodyJoint { - return this.multibodyJoints.createJoint( - params, - parent1.handle, - parent2.handle, - wakeUp, - ); + return this.multibodyJoints.createJoint(params, parent1.handle, parent2.handle, wakeUp); } /** @@ -595,7 +554,7 @@ export class World { * * @param handle - The integer handle of the rigid-body to retrieve. */ - public getRigidBody(handle: RigidBodyHandle): RigidBody { + public getRigidBody(handle: RigidBodyHandle): RigidBody | null { return this.bodies.get(handle); } @@ -604,7 +563,7 @@ export class World { * * @param handle - The integer handle of the collider to retrieve. */ - public getCollider(handle: ColliderHandle): Collider { + public getCollider(handle: ColliderHandle): Collider | null { return this.colliders.get(handle); } @@ -613,7 +572,7 @@ export class World { * * @param handle - The integer handle of the impulse joint to retrieve. */ - public getImpulseJoint(handle: ImpulseJointHandle): ImpulseJoint { + public getImpulseJoint(handle: ImpulseJointHandle): ImpulseJoint | null { return this.impulseJoints.get(handle); } @@ -622,7 +581,7 @@ export class World { * * @param handle - The integer handle of the multibody joint to retrieve. */ - public getMultibodyJoint(handle: MultibodyJointHandle): MultibodyJoint { + public getMultibodyJoint(handle: MultibodyJointHandle): MultibodyJoint | null { return this.multibodyJoints.get(handle); } @@ -654,12 +613,7 @@ export class World { */ public removeCollider(collider: Collider, wakeUp: boolean) { if (this.colliders) { - this.colliders.remove( - collider.handle, - this.islands, - this.bodies, - wakeUp, - ); + this.colliders.remove(collider.handle, this.islands, this.bodies, wakeUp); } } @@ -749,8 +703,8 @@ export class World { solid, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -786,8 +740,8 @@ export class World { solid, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -826,8 +780,8 @@ export class World { callback, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -860,8 +814,8 @@ export class World { shape, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); return handle != null ? this.colliders.get(handle) : null; @@ -896,8 +850,8 @@ export class World { solid, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -924,8 +878,8 @@ export class World { point, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -953,11 +907,11 @@ export class World { this.bodies, this.colliders, point, - this.colliders.castClosure(callback), + this.colliders.castClosure(callback)!, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -1008,8 +962,8 @@ export class World { stopAtPenetration, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -1042,11 +996,11 @@ export class World { shapePos, shapeRot, shape, - this.colliders.castClosure(callback), + this.colliders.castClosure(callback)!, filterFlags, filterGroups, - filterExcludeCollider ? filterExcludeCollider.handle : null, - filterExcludeRigidBody ? filterExcludeRigidBody.handle : null, + filterExcludeCollider?.handle, + filterExcludeRigidBody?.handle, this.colliders.castClosure(filterPredicate), ); } @@ -1070,7 +1024,7 @@ export class World { this.colliders, aabbCenter, aabbHalfExtents, - this.colliders.castClosure(callback), + this.colliders.castClosure(callback)!, ); } @@ -1080,28 +1034,16 @@ export class World { * @param collider1 - The second collider involved in the contact. * @param f - Closure that will be called on each collider that is in contact with `collider1`. */ - public contactPairsWith( - collider1: Collider, - f: (collider2: Collider) => void, - ) { - this.narrowPhase.contactPairsWith( - collider1.handle, - this.colliders.castClosure(f), - ); + public contactPairsWith(collider1: Collider, f: (collider2: Collider) => void) { + this.narrowPhase.contactPairsWith(collider1.handle, this.colliders.castClosure(f)!); } /** * Enumerates all the colliders intersecting the given colliders, assuming one of them * is a sensor. */ - public intersectionPairsWith( - collider1: Collider, - f: (collider2: Collider) => void, - ) { - this.narrowPhase.intersectionPairsWith( - collider1.handle, - this.colliders.castClosure(f), - ); + public intersectionPairsWith(collider1: Collider, f: (collider2: Collider) => void) { + this.narrowPhase.intersectionPairsWith(collider1.handle, this.colliders.castClosure(f)!); } /** @@ -1127,10 +1069,7 @@ export class World { * @param collider2 − The second collider involved in the intersection. */ public intersectionPair(collider1: Collider, collider2: Collider): boolean { - return this.narrowPhase.intersectionPair( - collider1.handle, - collider2.handle, - ); + return this.narrowPhase.intersectionPair(collider1.handle, collider2.handle); } /** diff --git a/packages/rapier-3d/src/rapier-compat-simd.ts b/packages/rapier-3d/src/rapier-compat-simd.ts new file mode 100644 index 00000000..c33cd274 --- /dev/null +++ b/packages/rapier-3d/src/rapier-compat-simd.ts @@ -0,0 +1,4 @@ +export * from "./exports"; +export {init} from "./init-compat-simd"; +import * as RAPIER from "./exports"; +export default RAPIER; diff --git a/packages/rapier-3d/src/rapier-compat.ts b/packages/rapier-3d/src/rapier-compat.ts new file mode 100644 index 00000000..af40f7c3 --- /dev/null +++ b/packages/rapier-3d/src/rapier-compat.ts @@ -0,0 +1,4 @@ +export * from "./exports"; +export {init} from "./init-compat"; +import * as RAPIER from "./exports"; +export default RAPIER; diff --git a/packages/rapier-3d/src/rapier-simd.ts b/packages/rapier-3d/src/rapier-simd.ts new file mode 100644 index 00000000..64f53025 --- /dev/null +++ b/packages/rapier-3d/src/rapier-simd.ts @@ -0,0 +1,4 @@ +export * from "./exports"; +export {init} from "./init-simd"; +import * as RAPIER from "./exports"; +export default RAPIER; diff --git a/packages/rapier-3d/src/rapier.ts b/packages/rapier-3d/src/rapier.ts new file mode 100644 index 00000000..f8a07dfa --- /dev/null +++ b/packages/rapier-3d/src/rapier.ts @@ -0,0 +1,4 @@ +import * as RAPIER from "./exports"; +export * from "./exports"; +export * from "./init"; +export default RAPIER; diff --git a/packages/rapier-3d/src/raw-simd.ts b/packages/rapier-3d/src/raw-simd.ts new file mode 100644 index 00000000..cbfe7055 --- /dev/null +++ b/packages/rapier-3d/src/raw-simd.ts @@ -0,0 +1 @@ +export * from "../wasm/release-simd/rapier_wasm_3d"; diff --git a/packages/rapier-3d/src/raw.ts b/packages/rapier-3d/src/raw.ts new file mode 100644 index 00000000..5de1a4a6 --- /dev/null +++ b/packages/rapier-3d/src/raw.ts @@ -0,0 +1 @@ +export * from "../wasm/release/rapier_wasm_3d"; diff --git a/packages/rapier-3d/tsconfig.json b/packages/rapier-3d/tsconfig.json new file mode 100644 index 00000000..bc768587 --- /dev/null +++ b/packages/rapier-3d/tsconfig.json @@ -0,0 +1,18 @@ +{ + "compilerOptions": { + "target": "ES2020", + "module": "ESNext", + "moduleResolution": "bundler", + "strict": true, + "esModuleInterop": true, + "skipLibCheck": true, + "declaration": true, + "declarationMap": true, + "sourceMap": true, + "outDir": "./dist", + "rootDir": "./src", + "lib": ["ES2020", "DOM"] + }, + "include": ["src/**/*.ts"], + "exclude": ["node_modules", "dist"] +} diff --git a/packages/rapier-3d/tsdown.config.ts b/packages/rapier-3d/tsdown.config.ts new file mode 100644 index 00000000..73e9f5cd --- /dev/null +++ b/packages/rapier-3d/tsdown.config.ts @@ -0,0 +1,47 @@ +import {copyFileSync} from "node:fs"; +import {resolve} from "node:path"; +import {defineConfig} from "tsdown"; + +const common = { + format: ["esm"] as ["esm"], + dts: true, + sourcemap: true, + loader: { + ".wasm": "base64" as const, + }, +}; + +export default defineConfig([ + { + ...common, + entry: {rapier: "./src/rapier.ts"}, + clean: true, + onSuccess: () => { + copyFileSync("./wasm/release/rapier_wasm_3d_bg.wasm", "./dist/rapier_wasm_3d_bg.wasm"); + }, + }, + { + ...common, + entry: {compat: "./src/rapier-compat.ts"}, + }, + { + ...common, + entry: {simd: "./src/rapier-simd.ts"}, + alias: { + [resolve("./src/raw")]: resolve("./src/raw-simd"), + }, + onSuccess: () => { + copyFileSync( + "./wasm/release-simd/rapier_wasm_3d_bg.wasm", + "./dist/rapier_wasm_3d_simd_bg.wasm", + ); + }, + }, + { + ...common, + entry: {"compat-simd": "./src/rapier-compat-simd.ts"}, + alias: { + [resolve("./src/raw")]: resolve("./src/raw-simd"), + }, + }, +]); diff --git a/testbed2d/.npmignore b/packages/testbed2d/.npmignore similarity index 100% rename from testbed2d/.npmignore rename to packages/testbed2d/.npmignore diff --git a/testbed2d/static/index.html b/packages/testbed2d/index.html similarity index 79% rename from testbed2d/static/index.html rename to packages/testbed2d/index.html index 6df5b069..ddccef81 100644 --- a/testbed2d/static/index.html +++ b/packages/testbed2d/index.html @@ -1,4 +1,4 @@ - + @@ -13,6 +13,6 @@ - + diff --git a/packages/testbed2d/package.json b/packages/testbed2d/package.json new file mode 100644 index 00000000..686e9c8b --- /dev/null +++ b/packages/testbed2d/package.json @@ -0,0 +1,30 @@ +{ + "name": "rapier-testbed2d", + "version": "0.1.0", + "private": true, + "description": "JavaScript testbed for rapier.", + "license": "Apache-2.0", + "author": "sebcrozet ", + "type": "module", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "@alexandernanberg/rapier-2d": "workspace:*", + "hash-wasm": "^4.12.0", + "lil-gui": "^0.21.0", + "pixi-viewport": "^6.0.3", + "pixi.js": "^8.15.0", + "seedrandom": "^3.0.5", + "stats.js": "^0.17.0" + }, + "devDependencies": { + "@types/seedrandom": "^3.0.8", + "@types/stats.js": "^0.17.4", + "typescript": "^5.9.3", + "vite": "^7.3.1", + "vite-plugin-wasm": "^3.5.0" + } +} diff --git a/testbed2d/static/.htaccess b/packages/testbed2d/public/.htaccess similarity index 100% rename from testbed2d/static/.htaccess rename to packages/testbed2d/public/.htaccess diff --git a/testbed2d/publish.sh b/packages/testbed2d/publish.sh similarity index 100% rename from testbed2d/publish.sh rename to packages/testbed2d/publish.sh diff --git a/testbed2d/src/Graphics.ts b/packages/testbed2d/src/Graphics.ts similarity index 60% rename from testbed2d/src/Graphics.ts rename to packages/testbed2d/src/Graphics.ts index 4f9448f8..c77a503f 100644 --- a/testbed2d/src/Graphics.ts +++ b/packages/testbed2d/src/Graphics.ts @@ -1,32 +1,46 @@ -import * as PIXI from "pixi.js"; +import type * as RAPIER from "@alexandernanberg/rapier-2d"; import {Viewport} from "pixi-viewport"; -import type * as RAPIER from "@dimforge/rapier2d"; +import * as PIXI from "pixi.js"; +import {Color} from "pixi.js"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); const BOX_INSTANCE_INDEX = 0; const BALL_INSTANCE_INDEX = 1; var kk = 0; +// Scratch object for zero-allocation getters +const _translation = {x: 0, y: 0}; + export class Graphics { coll2gfx: Map; colorIndex: number; colorPalette: Array; - renderer: PIXI.Renderer; + renderer: PIXI.WebGLRenderer; scene: PIXI.Container; viewport: Viewport; instanceGroups: Array>; lines: PIXI.Graphics; - constructor() { - // High pixel Ratio make the rendering extremely slow, so we cap it. - // const pixelRatio = window.devicePixelRatio ? Math.min(window.devicePixelRatio, 1.5) : 1; - + private constructor() { this.coll2gfx = new Map(); this.colorIndex = 0; this.colorPalette = [0xf3d9b1, 0x98c1d9, 0x053c5e, 0x1f7a8c]; - this.renderer = new PIXI.Renderer({ + } + + static async create(): Promise { + const graphics = new Graphics(); + await graphics.init(); + return graphics; + } + + private async init() { + // High pixel Ratio make the rendering extremely slow, so we cap it. + // const pixelRatio = window.devicePixelRatio ? Math.min(window.devicePixelRatio, 1.5) : 1; + + this.renderer = new PIXI.WebGLRenderer(); + await this.renderer.init({ backgroundColor: 0x292929, antialias: true, // resolution: pixelRatio, @@ -35,14 +49,14 @@ export class Graphics { }); this.scene = new PIXI.Container(); - document.body.appendChild(this.renderer.view); + document.body.appendChild(this.renderer.canvas); this.viewport = new Viewport({ screenWidth: window.innerWidth, screenHeight: window.innerHeight, worldWidth: 1000, worldHeight: 1000, - interaction: this.renderer.plugins.interaction, + events: this.renderer.events, }); this.scene.addChild(this.viewport); @@ -71,9 +85,8 @@ export class Graphics { this.instanceGroups.push( this.colorPalette.map((color) => { let graphics = new PIXI.Graphics(); - graphics.beginFill(color); - graphics.drawRect(-1.0, 1.0, 2.0, -2.0); - graphics.endFill(); + graphics.rect(-1.0, -1.0, 2.0, 2.0); + graphics.fill(color); return graphics; }), ); @@ -81,20 +94,21 @@ export class Graphics { this.instanceGroups.push( this.colorPalette.map((color) => { let graphics = new PIXI.Graphics(); - graphics.beginFill(color); - graphics.drawCircle(0.0, 0.0, 1.0); - graphics.endFill(); + graphics.circle(0.0, 0.0, 1.0); + graphics.fill(color); return graphics; }), ); } - render(world: RAPIER.World, debugRender: Boolean) { + render(world: RAPIER.World, debugRender: boolean) { kk += 1; - if (!this.lines) { - this.lines = new PIXI.Graphics(); - this.viewport.addChild(this.lines); + // Clean up previous debug lines + if (this.lines) { + this.viewport.removeChild(this.lines); + this.lines.destroy(); + this.lines = null; } if (debugRender) { @@ -102,20 +116,39 @@ export class Graphics { let vtx = buffers.vertices; let cls = buffers.colors; - this.lines.clear(); + // Group lines by color for efficient batching in pixi.js 8 + // (stroke() re-strokes all accumulated paths, so we batch by color) + const linesByColor = new Map(); for (let i = 0; i < vtx.length / 4; i += 1) { - let color = PIXI.utils.rgb2hex([ - cls[i * 8], - cls[i * 8 + 1], - cls[i * 8 + 2], - ]); - this.lines.lineStyle(1.0, color, cls[i * 8 + 3], 0.5, true); - this.lines.moveTo(vtx[i * 4], -vtx[i * 4 + 1]); - this.lines.lineTo(vtx[i * 4 + 2], -vtx[i * 4 + 3]); + const color = new Color([cls[i * 8], cls[i * 8 + 1], cls[i * 8 + 2]]).toNumber(); + const alpha = cls[i * 8 + 3]; + const key = color * 1000 + Math.round(alpha * 100); // Combine color and alpha as key + + if (!linesByColor.has(key)) { + linesByColor.set(key, {vtx: [], alpha}); + } + const group = linesByColor.get(key)!; + group.vtx.push(vtx[i * 4], -vtx[i * 4 + 1], vtx[i * 4 + 2], -vtx[i * 4 + 3]); + } + + // Create container for all line groups + this.lines = new PIXI.Container() as any; + this.viewport.addChild(this.lines); + + // Draw each color group as a single Graphics with one stroke call + for (const [key, group] of linesByColor) { + const color = Math.floor(key / 1000); + const gfx = new PIXI.Graphics(); + + for (let i = 0; i < group.vtx.length; i += 4) { + gfx.moveTo(group.vtx[i], group.vtx[i + 1]); + gfx.lineTo(group.vtx[i + 2], group.vtx[i + 3]); + } + gfx.stroke({width: 0.02, color, alpha: group.alpha}); + + this.lines.addChild(gfx); } - } else { - this.lines.clear(); } this.updatePositions(world); @@ -130,12 +163,12 @@ export class Graphics { updatePositions(world: RAPIER.World) { world.forEachCollider((elt) => { let gfx = this.coll2gfx.get(elt.handle); - let translation = elt.translation(); - let rotation = elt.rotation(); + elt.translation(_translation); + let rotation = elt.rotation(); // returns number, no allocation if (!!gfx) { - gfx.position.x = translation.x; - gfx.position.y = -translation.y; + gfx.position.x = _translation.x; + gfx.position.y = -_translation.y; gfx.rotation = -rotation; } }); @@ -150,15 +183,11 @@ export class Graphics { this.colorIndex = 0; } - addCollider( - RAPIER: RAPIER_API, - world: RAPIER.World, - collider: RAPIER.Collider, - ) { + addCollider(RAPIER: RAPIER_API, world: RAPIER.World, collider: RAPIER.Collider) { let i; let parent = collider.parent(); let instance; - let graphics; + let graphics: PIXI.Graphics; let vertices; let instanceId = parent.isFixed() ? 0 : this.colorIndex + 1; @@ -166,30 +195,30 @@ export class Graphics { case RAPIER.ShapeType.Cuboid: let hext = collider.halfExtents(); instance = this.instanceGroups[BOX_INSTANCE_INDEX][instanceId]; - graphics = instance.clone(); - graphics.scale.x = hext.x; - graphics.scale.y = hext.y; + graphics = instance.clone(true); + graphics.scale.set(hext.x, hext.y); this.viewport.addChild(graphics); break; case RAPIER.ShapeType.Ball: let rad = collider.radius(); instance = this.instanceGroups[BALL_INSTANCE_INDEX][instanceId]; - graphics = instance.clone(); - graphics.scale.x = rad; - graphics.scale.y = rad; + graphics = instance.clone(true); + graphics.scale.set(rad, rad); this.viewport.addChild(graphics); break; case RAPIER.ShapeType.Polyline: vertices = Array.from(collider.vertices()); graphics = new PIXI.Graphics(); - graphics - .lineStyle(0.2, this.colorPalette[instanceId]) - .moveTo(vertices[0], -vertices[1]); + graphics.moveTo(vertices[0], -vertices[1]); for (i = 2; i < vertices.length; i += 2) { graphics.lineTo(vertices[i], -vertices[i + 1]); } + graphics.stroke({ + width: 0.2, + color: this.colorPalette[instanceId], + }); this.viewport.addChild(graphics); break; case RAPIER.ShapeType.HeightField: @@ -198,34 +227,35 @@ export class Graphics { let step = scale.x / (heights.length - 1); graphics = new PIXI.Graphics(); - graphics - .lineStyle(0.2, this.colorPalette[instanceId]) - .moveTo(-scale.x / 2.0, -heights[0] * scale.y); + graphics.moveTo(-scale.x / 2.0, -heights[0] * scale.y); for (i = 1; i < heights.length; i += 1) { - graphics.lineTo( - -scale.x / 2.0 + i * step, - -heights[i] * scale.y, - ); + graphics.lineTo(-scale.x / 2.0 + i * step, -heights[i] * scale.y); } + graphics.stroke({ + width: 0.2, + color: this.colorPalette[instanceId], + }); this.viewport.addChild(graphics); break; case RAPIER.ShapeType.ConvexPolygon: vertices = Array.from(collider.vertices()); graphics = new PIXI.Graphics(); - graphics.beginFill(this.colorPalette[instanceId], 1.0); graphics.moveTo(vertices[0], -vertices[1]); for (i = 2; i < vertices.length; i += 2) { graphics.lineTo(vertices[i], -vertices[i + 1]); } + graphics.fill({ + color: this.colorPalette[instanceId], + alpha: 1.0, + }); this.viewport.addChild(graphics); break; case RAPIER.ShapeType.Voxels: graphics = new PIXI.Graphics(); - graphics.beginFill(this.colorPalette[instanceId], 1.0); collider.clearShapeCache(); let shape = collider.shape as RAPIER.Voxels; let gridCoords = shape.data; @@ -241,8 +271,13 @@ export class Graphics { graphics.lineTo(maxx, -miny); graphics.lineTo(maxx, -maxy); graphics.lineTo(minx, -maxy); + graphics.closePath(); } + graphics.fill({ + color: this.colorPalette[instanceId], + alpha: 1.0, + }); this.viewport.addChild(graphics); break; default: @@ -250,20 +285,13 @@ export class Graphics { return; } - let t = collider.translation(); + collider.translation(_translation); let r = collider.rotation(); - // dummy.position.set(t.x, t.y, t.z); - // dummy.quaternion.set(r.x, r.y, r.z, r.w); - // dummy.scale.set(instanceDesc.scale.x, instanceDesc.scale.y, instanceDesc.scale.z); - // dummy.updateMatrix(); - // instance.setMatrixAt(instanceDesc.elementId, dummy.matrix); - // instance.instanceMatrix.needsUpdate = true; - graphics.position.x = t.x; - graphics.position.y = -t.y; + graphics.position.x = _translation.x; + graphics.position.y = -_translation.y; graphics.rotation = r; this.coll2gfx.set(collider.handle, graphics); - this.colorIndex = - (this.colorIndex + 1) % (this.colorPalette.length - 1); + this.colorIndex = (this.colorIndex + 1) % (this.colorPalette.length - 1); } } diff --git a/testbed2d/src/Gui.ts b/packages/testbed2d/src/Gui.ts similarity index 85% rename from testbed2d/src/Gui.ts rename to packages/testbed2d/src/Gui.ts index a410607e..af97eb5d 100644 --- a/testbed2d/src/Gui.ts +++ b/packages/testbed2d/src/Gui.ts @@ -1,5 +1,5 @@ import GUI from "lil-gui"; -import * as Stats from "stats.js"; +import Stats from "stats.js"; import type {Testbed} from "./Testbed"; export interface DebugInfos { @@ -23,13 +23,11 @@ export class Gui { this.stats = new Stats(); this.rapierVersion = testbed.RAPIER.version(); this.maxTimePanelValue = 16.0; - this.stepTimePanel = this.stats.addPanel( - new Stats.Panel("ms (step)", "#ff8", "#221"), - ); + this.stepTimePanel = this.stats.addPanel(new Stats.Panel("ms (step)", "#ff8", "#221")); this.stats.showPanel(this.stats.dom.children.length - 1); document.body.appendChild(this.stats.dom); - var backends = simulationParameters.backends; + var _backends = simulationParameters.backends; var demos = Array.from(simulationParameters.builders.keys()); var me = this; @@ -42,10 +40,7 @@ export class Gui { .onChange((demo: string) => { testbed.switchToDemo(demo); }); - this.gui - .add(simulationParameters, "numSolverIters", 0, 20) - .step(1) - .listen(); + this.gui.add(simulationParameters, "numSolverIters", 0, 20).step(1).listen(); this.gui .add(simulationParameters, "debugInfos") .listen() @@ -88,12 +83,8 @@ export class Gui { text += "
[Step " + infos.stepId + "]"; if (infos.worldHash) { - text += - "
World hash (xxHash128): " + infos.worldHash.toString(); - text += - "
World hash time (xxHash128): " + - infos.worldHashTime + - "ms"; + text += "
World hash (xxHash128): " + infos.worldHash.toString(); + text += "
World hash time (xxHash128): " + infos.worldHashTime + "ms"; text += "
Snapshot time: " + infos.snapshotTime + "ms"; } this.debugText.innerHTML = text; diff --git a/testbed2d/src/Testbed.ts b/packages/testbed2d/src/Testbed.ts similarity index 90% rename from testbed2d/src/Testbed.ts rename to packages/testbed2d/src/Testbed.ts index 61279ab2..07261b19 100644 --- a/testbed2d/src/Testbed.ts +++ b/packages/testbed2d/src/Testbed.ts @@ -1,10 +1,10 @@ +import type * as RAPIER from "@alexandernanberg/rapier-2d"; +import {xxhash128} from "hash-wasm"; +import type {DebugInfos} from "./Gui"; import {Graphics} from "./Graphics"; import {Gui} from "./Gui"; -import type {DebugInfos} from "./Gui"; -import {xxhash128} from "hash-wasm"; -import type * as RAPIER from "@dimforge/rapier2d"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); type Builders = Map void>; @@ -59,18 +59,27 @@ export class Testbed { snap: Uint8Array; snapStepId: number; - constructor(RAPIER: RAPIER_API, builders: Builders) { + static async create(RAPIER: RAPIER_API, builders: Builders): Promise { + const testbed = new Testbed(RAPIER, builders); + await testbed.initGraphics(); + testbed.switchToDemo(builders.keys().next().value); + return testbed; + } + + private async initGraphics() { + this.graphics = await Graphics.create(); + } + + private constructor(RAPIER: RAPIER_API, builders: Builders) { let backends = ["rapier"]; this.RAPIER = RAPIER; let parameters = new SimulationParameters(backends, builders); this.gui = new Gui(this, parameters); - this.graphics = new Graphics(); this.inhibitLookAt = false; this.parameters = parameters; this.demoToken = 0; this.mouse = {x: 0, y: 0}; this.events = new RAPIER.EventQueue(true); - this.switchToDemo(builders.keys().next().value); window.addEventListener("mousemove", (event) => { this.mouse.x = (event.clientX / window.innerWidth) * 2 - 1; @@ -120,7 +129,7 @@ export class Testbed { this.parameters.builders.get(demo)(this.RAPIER, this); } - switchToBackend(backend: string) { + switchToBackend(_backend: string) { this.switchToDemo(this.parameters.demo); } diff --git a/testbed2d/src/demos/characterController.ts b/packages/testbed2d/src/demos/characterController.ts similarity index 84% rename from testbed2d/src/demos/characterController.ts rename to packages/testbed2d/src/demos/characterController.ts index 7877db12..37ff486f 100644 --- a/testbed2d/src/demos/characterController.ts +++ b/packages/testbed2d/src/demos/characterController.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -15,7 +15,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // Dynamic cubes. let rad = 0.5; let num = 5; - let i, j, k; + let i, _j, k; let shift = rad * 2.5; let center = num * rad; let height = 5.0; @@ -34,17 +34,10 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { } // Character. - let characterDesc = - RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation( - -10.0, - 4.0, - ); + let characterDesc = RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(-10.0, 4.0); let character = world.createRigidBody(characterDesc); let characterColliderDesc = RAPIER.ColliderDesc.cuboid(0.6, 1.2); - let characterCollider = world.createCollider( - characterColliderDesc, - character, - ); + let characterCollider = world.createCollider(characterColliderDesc, character); let characterController = world.createCharacterController(0.1); characterController.enableAutostep(0.7, 0.3, true); @@ -54,10 +47,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let movementDirection = {x: 0.0, y: -speed}; let updateCharacter = () => { - characterController.computeColliderMovement( - characterCollider, - movementDirection, - ); + characterController.computeColliderMovement(characterCollider, movementDirection); let movement = characterController.computedMovement(); let newPos = character.translation(); diff --git a/testbed2d/src/demos/collisionGroups.ts b/packages/testbed2d/src/demos/collisionGroups.ts similarity index 88% rename from testbed2d/src/demos/collisionGroups.ts rename to packages/testbed2d/src/demos/collisionGroups.ts index 51163618..390a52f6 100644 --- a/testbed2d/src/demos/collisionGroups.ts +++ b/packages/testbed2d/src/demos/collisionGroups.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -12,10 +12,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let ground_size = 5.0; let ground_height = 0.1; - let groundBodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - 0.0, - -ground_height, - ); + let groundBodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(0.0, -ground_height); let groundBody = world.createRigidBody(groundBodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(ground_size, ground_height); world.createCollider(colliderDesc, groundBody); @@ -63,10 +60,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad, - ).setCollisionGroups(group); + let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad).setCollisionGroups(group); world.createCollider(colliderDesc, body); } } diff --git a/testbed2d/src/demos/convexPolygons.ts b/packages/testbed2d/src/demos/convexPolygons.ts similarity index 87% rename from testbed2d/src/demos/convexPolygons.ts rename to packages/testbed2d/src/demos/convexPolygons.ts index 6edad202..f3b50178 100644 --- a/testbed2d/src/demos/convexPolygons.ts +++ b/packages/testbed2d/src/demos/convexPolygons.ts @@ -1,7 +1,7 @@ import seedrandom from "seedrandom"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -19,10 +19,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { ]; grounds.forEach((ground) => { - let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - ground.x, - ground.y, - ); + let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(ground.x, ground.y); let body = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(ground.hx, ground.hy); world.createCollider(colliderDesc, body); @@ -53,9 +50,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { for (k = 0; k < 10; ++k) { points.push(rng() * scale, rng() * scale); } - let colliderDesc = RAPIER.ColliderDesc.convexHull( - new Float32Array(points), - ); + let colliderDesc = RAPIER.ColliderDesc.convexHull(new Float32Array(points)); world.createCollider(colliderDesc, body); } } diff --git a/testbed2d/src/demos/cubes.ts b/packages/testbed2d/src/demos/cubes.ts similarity index 93% rename from testbed2d/src/demos/cubes.ts rename to packages/testbed2d/src/demos/cubes.ts index 5214b485..d609e6cf 100644 --- a/testbed2d/src/demos/cubes.ts +++ b/packages/testbed2d/src/demos/cubes.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -15,10 +15,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { ]; grounds.forEach((ground) => { - let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - ground.x, - ground.y, - ); + let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(ground.x, ground.y); let body = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(ground.hx, ground.hy); world.createCollider(colliderDesc, body); diff --git a/testbed2d/src/demos/heightfield.ts b/packages/testbed2d/src/demos/heightfield.ts similarity index 90% rename from testbed2d/src/demos/heightfield.ts rename to packages/testbed2d/src/demos/heightfield.ts index d055499b..91ba7a8e 100644 --- a/testbed2d/src/demos/heightfield.ts +++ b/packages/testbed2d/src/demos/heightfield.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -22,10 +22,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.fixed(); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.heightfield( - new Float32Array(heights), - ground_size, - ); + let colliderDesc = RAPIER.ColliderDesc.heightfield(new Float32Array(heights), ground_size); world.createCollider(colliderDesc, body); /* diff --git a/testbed2d/src/demos/keva.ts b/packages/testbed2d/src/demos/keva.ts similarity index 89% rename from testbed2d/src/demos/keva.ts rename to packages/testbed2d/src/demos/keva.ts index 6ca57c0c..479f12a7 100644 --- a/testbed2d/src/demos/keva.ts +++ b/packages/testbed2d/src/demos/keva.ts @@ -1,7 +1,7 @@ -import type * as RAPIER from "@dimforge/rapier2d"; +import type * as RAPIER from "@alexandernanberg/rapier-2d"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); function buildBlock( RAPIER: RAPIER_API, @@ -48,10 +48,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // Create Ground. let groundSize = 150.0; let groundHeight = 0.1; - let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - 0.0, - -groundHeight, - ); + let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(0.0, -groundHeight); let body = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(groundSize, groundHeight); world.createCollider(colliderDesc, body); @@ -62,7 +59,6 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // These should only be set to odd values otherwise // the blocks won't align in the nicest way. let numyArr = [0, 3, 5, 5, 7, 9]; - let numBlocksBuilt = 0; let i; for (i = 5; i >= 1; --i) { @@ -80,7 +76,6 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { numz, ); blockHeight += (numy + 1) * (halfExtents.x + halfExtents.y); - numBlocksBuilt += numx * numy; } testbed.setWorld(world); diff --git a/testbed2d/src/demos/lockedRotations.ts b/packages/testbed2d/src/demos/lockedRotations.ts similarity index 73% rename from testbed2d/src/demos/lockedRotations.ts rename to packages/testbed2d/src/demos/lockedRotations.ts index 8600f95f..fdfa5737 100644 --- a/testbed2d/src/demos/lockedRotations.ts +++ b/packages/testbed2d/src/demos/lockedRotations.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -12,10 +12,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let ground_size = 1.8; let ground_height = 1.0; - let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - 0.0, - -ground_height, - ); + let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(0.0, -ground_height); let body = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(ground_size, ground_height); world.createCollider(colliderDesc, body); @@ -23,9 +20,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { /* * A rectangle that only rotates along the `x` axis. */ - bodyDesc = RAPIER.RigidBodyDesc.dynamic() - .setTranslation(0.0, 3.0) - .lockTranslations(); + bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(0.0, 3.0).lockTranslations(); body = world.createRigidBody(bodyDesc); colliderDesc = RAPIER.ColliderDesc.cuboid(2.0, 0.6); world.createCollider(colliderDesc, body); @@ -33,9 +28,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { /* * A cuboid that cannot rotate. */ - bodyDesc = RAPIER.RigidBodyDesc.dynamic() - .setTranslation(0.4, 5.0) - .lockRotations(); + bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(0.4, 5.0).lockRotations(); body = world.createRigidBody(bodyDesc); colliderDesc = RAPIER.ColliderDesc.cuboid(0.4, 0.6); world.createCollider(colliderDesc, body); diff --git a/testbed2d/src/demos/pidController.ts b/packages/testbed2d/src/demos/pidController.ts similarity index 85% rename from testbed2d/src/demos/pidController.ts rename to packages/testbed2d/src/demos/pidController.ts index fac2a7c4..13f520c1 100644 --- a/testbed2d/src/demos/pidController.ts +++ b/packages/testbed2d/src/demos/pidController.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -15,7 +15,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // Dynamic cubes. let rad = 0.5; let num = 5; - let i, j, k; + let i, _j, k; let shift = rad * 2.5; let center = num * rad; let height = 5.0; @@ -42,16 +42,11 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let characterColliderDesc = RAPIER.ColliderDesc.cuboid(0.6, 1.2); world.createCollider(characterColliderDesc, character); - let pidController = world.createPidController( - 60.0, - 0.0, - 1.0, - RAPIER.PidAxesMask.AllAng, - ); + let pidController = world.createPidController(60.0, 0.0, 1.0, RAPIER.PidAxesMask.AllAng); let speed = 0.2; let movementDirection = {x: 0.0, y: 0.0}; let targetVelocity = {x: 0.0, y: 0.0}; - let targetRotation = 0.0; + let _targetRotation = 0.0; let updateCharacter = () => { if (movementDirection.x == 0.0 && movementDirection.y == 0.0) { @@ -59,9 +54,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { pidController.setAxes(RAPIER.PidAxesMask.AllAng); } else if (movementDirection.y == 0.0) { // Don’t control the linear Y axis so the player can fall down due to gravity. - pidController.setAxes( - RAPIER.PidAxesMask.AllAng | RAPIER.PidAxesMask.LinX, - ); + pidController.setAxes(RAPIER.PidAxesMask.AllAng | RAPIER.PidAxesMask.LinX); } else { pidController.setAxes(RAPIER.PidAxesMask.All); } @@ -70,11 +63,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { targetPoint.x += movementDirection.x; targetPoint.y += movementDirection.y; - pidController.applyLinearCorrection( - character, - targetPoint, - targetVelocity, - ); + pidController.applyLinearCorrection(character, targetPoint, targetVelocity); pidController.applyAngularCorrection(character, 0.0, 0.0); }; diff --git a/testbed2d/src/demos/polyline.ts b/packages/testbed2d/src/demos/polyline.ts similarity index 96% rename from testbed2d/src/demos/polyline.ts rename to packages/testbed2d/src/demos/polyline.ts index 47d82540..556776cd 100644 --- a/testbed2d/src/demos/polyline.ts +++ b/packages/testbed2d/src/demos/polyline.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); diff --git a/testbed2d/src/demos/revoluteJoints.ts b/packages/testbed2d/src/demos/revoluteJoints.ts similarity index 93% rename from testbed2d/src/demos/revoluteJoints.ts rename to packages/testbed2d/src/demos/revoluteJoints.ts index 2d7923fd..801d361c 100644 --- a/testbed2d/src/demos/revoluteJoints.ts +++ b/packages/testbed2d/src/demos/revoluteJoints.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector2(0.0, -9.81); @@ -20,10 +20,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { ? RAPIER.RigidBodyType.Fixed : RAPIER.RigidBodyType.Dynamic; - let bodyDesc = new RAPIER.RigidBodyDesc(status).setTranslation( - k * shift, - -i * shift, - ); + let bodyDesc = new RAPIER.RigidBodyDesc(status).setTranslation(k * shift, -i * shift); let child = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.ball(rad); world.createCollider(colliderDesc, child); diff --git a/testbed2d/src/demos/voxels.ts b/packages/testbed2d/src/demos/voxels.ts similarity index 76% rename from testbed2d/src/demos/voxels.ts rename to packages/testbed2d/src/demos/voxels.ts index 6a6fc366..b2ad4d67 100644 --- a/testbed2d/src/demos/voxels.ts +++ b/packages/testbed2d/src/demos/voxels.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier2d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-2d"); function generateVoxels(n: number) { let points = []; @@ -24,10 +24,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.fixed(); let body = world.createRigidBody(bodyDesc); let voxels = generateVoxels(100); - let colliderDesc = RAPIER.ColliderDesc.voxels( - voxels.points, - voxels.voxelSize, - ); + let colliderDesc = RAPIER.ColliderDesc.voxels(voxels.points, voxels.voxelSize); world.createCollider(colliderDesc, body); // Dynamic cubes. @@ -59,20 +56,17 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { colliderDesc = RAPIER.ColliderDesc.ball(rad); break; case 2: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, - rad / 2.0, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad / 2.0); world.createCollider(colliderDesc, body); - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad).setTranslation( rad, - ).setTranslation(rad, 0.0); + 0.0, + ); world.createCollider(colliderDesc, body); - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, - rad, - ).setTranslation(-rad, 0.0); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad).setTranslation( + -rad, + 0.0, + ); break; } diff --git a/testbed2d/src/index.ts b/packages/testbed2d/src/index.ts similarity index 88% rename from testbed2d/src/index.ts rename to packages/testbed2d/src/index.ts index 24bd18f4..d543e058 100644 --- a/testbed2d/src/index.ts +++ b/packages/testbed2d/src/index.ts @@ -1,17 +1,18 @@ -import {Testbed} from "./Testbed"; +import * as CharacterController from "./demos/characterController"; import * as CollisionGroups from "./demos/collisionGroups"; +import * as ConvexPolygons from "./demos/convexPolygons"; import * as Cubes from "./demos/cubes"; -import * as Keva from "./demos/keva"; import * as Heightfield from "./demos/heightfield"; -import * as Polyline from "./demos/polyline"; -import * as RevoluteJoints from "./demos/revoluteJoints"; +import * as Keva from "./demos/keva"; import * as LockedRotations from "./demos/lockedRotations"; -import * as ConvexPolygons from "./demos/convexPolygons"; -import * as CharacterController from "./demos/characterController"; import * as PidController from "./demos/pidController"; +import * as Polyline from "./demos/polyline"; +import * as RevoluteJoints from "./demos/revoluteJoints"; import * as Voxels from "./demos/voxels"; +import {Testbed} from "./Testbed"; -import("@dimforge/rapier2d").then((RAPIER) => { +import("@alexandernanberg/rapier-2d/compat").then(async (RAPIER) => { + await RAPIER.init(); let builders = new Map([ ["collision groups", CollisionGroups.initWorld], ["character controller", CharacterController.initWorld], @@ -25,6 +26,6 @@ import("@dimforge/rapier2d").then((RAPIER) => { ["polyline", Polyline.initWorld], ["voxels", Voxels.initWorld], ]); - let testbed = new Testbed(RAPIER, builders); + let testbed = await Testbed.create(RAPIER, builders); testbed.run(); }); diff --git a/testbed2d/tsconfig.json b/packages/testbed2d/tsconfig.json similarity index 60% rename from testbed2d/tsconfig.json rename to packages/testbed2d/tsconfig.json index 5d07ecd8..af046b8c 100644 --- a/testbed2d/tsconfig.json +++ b/packages/testbed2d/tsconfig.json @@ -5,7 +5,8 @@ "module": "es2022", "target": "es2022", "allowJs": true, - "moduleResolution": "node", - "allowSyntheticDefaultImports": true + "moduleResolution": "bundler", + "allowSyntheticDefaultImports": true, + "skipLibCheck": true } } diff --git a/packages/testbed2d/vite.config.ts b/packages/testbed2d/vite.config.ts new file mode 100644 index 00000000..8efe6d74 --- /dev/null +++ b/packages/testbed2d/vite.config.ts @@ -0,0 +1,9 @@ +import {defineConfig} from "vite"; +import wasm from "vite-plugin-wasm"; + +export default defineConfig({ + plugins: [wasm()], + build: { + target: "esnext", + }, +}); diff --git a/testbed3d/.npmignore b/packages/testbed3d/.npmignore similarity index 100% rename from testbed3d/.npmignore rename to packages/testbed3d/.npmignore diff --git a/testbed3d/static/index.html b/packages/testbed3d/index.html similarity index 79% rename from testbed3d/static/index.html rename to packages/testbed3d/index.html index d2a61221..09e368ef 100644 --- a/testbed3d/static/index.html +++ b/packages/testbed3d/index.html @@ -1,4 +1,4 @@ - + @@ -13,6 +13,6 @@ - + diff --git a/packages/testbed3d/package.json b/packages/testbed3d/package.json new file mode 100644 index 00000000..623fa95b --- /dev/null +++ b/packages/testbed3d/package.json @@ -0,0 +1,30 @@ +{ + "name": "rapier-testbed3d", + "version": "0.1.0", + "private": true, + "description": "JavaScript testbed for rapier.", + "license": "Apache-2.0", + "author": "sebcrozet ", + "type": "module", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "@alexandernanberg/rapier-3d": "workspace:*", + "hash-wasm": "^4.12.0", + "lil-gui": "^0.21.0", + "seedrandom": "^3.0.5", + "stats.js": "^0.17.0", + "three": "^0.182.0" + }, + "devDependencies": { + "@types/seedrandom": "^3.0.8", + "@types/stats.js": "^0.17.4", + "@types/three": "^0.182.0", + "typescript": "^5.9.3", + "vite": "^7.3.1", + "vite-plugin-wasm": "^3.5.0" + } +} diff --git a/testbed3d/static/.htaccess b/packages/testbed3d/public/.htaccess similarity index 100% rename from testbed3d/static/.htaccess rename to packages/testbed3d/public/.htaccess diff --git a/testbed3d/static/suzanne_blender_monkey.glb b/packages/testbed3d/public/suzanne_blender_monkey.glb similarity index 100% rename from testbed3d/static/suzanne_blender_monkey.glb rename to packages/testbed3d/public/suzanne_blender_monkey.glb diff --git a/testbed3d/publish.sh b/packages/testbed3d/publish.sh similarity index 100% rename from testbed3d/publish.sh rename to packages/testbed3d/publish.sh diff --git a/testbed3d/src/Graphics.ts b/packages/testbed3d/src/Graphics.ts similarity index 82% rename from testbed3d/src/Graphics.ts rename to packages/testbed3d/src/Graphics.ts index f52d6c96..7983c611 100644 --- a/testbed3d/src/Graphics.ts +++ b/packages/testbed3d/src/Graphics.ts @@ -1,6 +1,6 @@ +import RAPIER from "@alexandernanberg/rapier-3d"; import * as THREE from "three"; -import {OrbitControls} from "three/examples/jsm/controls/OrbitControls"; -import RAPIER from "@dimforge/rapier3d"; +import {OrbitControls} from "three/addons/controls/OrbitControls.js"; const BOX_INSTANCE_INDEX = 0; const BALL_INSTANCE_INDEX = 1; @@ -10,6 +10,10 @@ const CONE_INSTANCE_INDEX = 3; var dummy = new THREE.Object3D(); var kk = 0; +// Scratch objects for zero-allocation getters +const _translation = {x: 0, y: 0, z: 0}; +const _rotation = {x: 0, y: 0, z: 0, w: 1}; + interface InstanceDesc { groupId: number; instanceId: number; @@ -18,7 +22,7 @@ interface InstanceDesc { scale?: THREE.Vector3; } -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); // NOTE: this is a very naive voxels -> mesh conversion. Proper // conversions should use something like greedy meshing instead. @@ -148,15 +152,15 @@ export class Graphics { this.renderer.setSize(window.innerWidth, window.innerHeight); this.renderer.setClearColor(0x292929, 1); // High pixel Ratio make the rendering extremely slow, so we cap it. - const pixelRatio = window.devicePixelRatio - ? Math.min(window.devicePixelRatio, 1.5) - : 1; + const pixelRatio = window.devicePixelRatio ? Math.min(window.devicePixelRatio, 1.5) : 1; this.renderer.setPixelRatio(pixelRatio); document.body.appendChild(this.renderer.domElement); let ambientLight = new THREE.AmbientLight(0x606060); this.scene.add(ambientLight); - this.light = new THREE.PointLight(0xffffff, 1, 1000); + // In Three.js r155+, decay defaults to 2 for physically correct lighting. + // Set decay to 0 to restore the old non-physically-correct behavior. + this.light = new THREE.PointLight(0xffffff, 1, 0, 0); this.scene.add(this.light); // For the debug-renderer. @@ -181,10 +185,7 @@ export class Graphics { window.addEventListener("resize", onWindowResize, false); - this.controls = new OrbitControls( - this.camera, - this.renderer.domElement, - ); + this.controls = new OrbitControls(this.camera, this.renderer.domElement); this.controls.enableDamping = true; this.controls.dampingFactor = 0.2; this.controls.maxPolarAngle = Math.PI / 2; @@ -268,10 +269,7 @@ export class Graphics { "position", new THREE.BufferAttribute(buffers.vertices, 3), ); - this.lines.geometry.setAttribute( - "color", - new THREE.BufferAttribute(buffers.colors, 4), - ); + this.lines.geometry.setAttribute("color", new THREE.BufferAttribute(buffers.colors, 4)); } else { this.lines.visible = false; } @@ -281,7 +279,7 @@ export class Graphics { } rayAtMousePosition(pos: {x: number; y: number}) { - this.raycaster.setFromCamera(pos, this.camera); + this.raycaster.setFromCamera(new THREE.Vector2(pos.x, pos.y), this.camera); return this.raycaster.ray; } @@ -308,9 +306,7 @@ export class Graphics { if (!!desc) { desc.highlighted = false; - this.instanceGroups[desc.groupId][ - this.highlightInstanceId() - ].count = 0; + this.instanceGroups[desc.groupId][this.highlightInstanceId()].count = 0; } } if (handle != null) { @@ -328,26 +324,19 @@ export class Graphics { updatePositions(world: RAPIER.World) { world.forEachCollider((elt) => { let gfx = this.coll2instance.get(elt.handle); - let translation = elt.translation(); - let rotation = elt.rotation(); + elt.translation(_translation); + elt.rotation(_rotation); if (!!gfx) { let instance = this.instanceGroups[gfx.groupId][gfx.instanceId]; dummy.scale.set(gfx.scale.x, gfx.scale.y, gfx.scale.z); - dummy.position.set(translation.x, translation.y, translation.z); - dummy.quaternion.set( - rotation.x, - rotation.y, - rotation.z, - rotation.w, - ); + dummy.position.set(_translation.x, _translation.y, _translation.z); + dummy.quaternion.set(_rotation.x, _rotation.y, _rotation.z, _rotation.w); dummy.updateMatrix(); instance.setMatrixAt(gfx.elementId, dummy.matrix); let highlightInstance = - this.instanceGroups[gfx.groupId][ - this.highlightInstanceId() - ]; + this.instanceGroups[gfx.groupId][this.highlightInstanceId()]; if (gfx.highlighted) { highlightInstance.count = 1; highlightInstance.setMatrixAt(0, dummy.matrix); @@ -360,13 +349,8 @@ export class Graphics { let mesh = this.coll2mesh.get(elt.handle); if (!!mesh) { - mesh.position.set(translation.x, translation.y, translation.z); - mesh.quaternion.set( - rotation.x, - rotation.y, - rotation.z, - rotation.w, - ); + mesh.position.set(_translation.x, _translation.y, _translation.z); + mesh.quaternion.set(_rotation.x, _rotation.y, _rotation.z, _rotation.w); mesh.updateMatrix(); } }); @@ -406,9 +390,7 @@ export class Graphics { removeRigidBody(body: RAPIER.RigidBody) { if (!!this.rb2colls.get(body.handle)) { - this.rb2colls - .get(body.handle) - .forEach((coll) => this.removeCollider(coll)); + this.rb2colls.get(body.handle).forEach((coll) => this.removeCollider(coll)); this.rb2colls.delete(body.handle); } } @@ -418,9 +400,7 @@ export class Graphics { let instance = this.instanceGroups[gfx.groupId][gfx.instanceId]; if (instance.count > 1) { - let coll2 = instance.userData.elementId2coll.get( - instance.count - 1, - ); + let coll2 = instance.userData.elementId2coll.get(instance.count - 1); instance.userData.elementId2coll.delete(instance.count - 1); instance.userData.elementId2coll.set(gfx.elementId, coll2); @@ -432,13 +412,8 @@ export class Graphics { this.coll2instance.delete(collider.handle); } - addCollider( - RAPIER: RAPIER_API, - world: RAPIER.World, - collider: RAPIER.Collider, - ) { - this.colorIndex = - (this.colorIndex + 1) % (this.colorPalette.length - 2); + addCollider(RAPIER: RAPIER_API, world: RAPIER.World, collider: RAPIER.Collider) { + this.colorIndex = (this.colorIndex + 1) % (this.colorPalette.length - 2); let parent = collider.parent(); if (!this.rb2colls.get(parent.handle)) { this.rb2colls.set(parent.handle, [collider]); @@ -457,19 +432,13 @@ export class Graphics { switch (collider.shapeType()) { case RAPIER.ShapeType.Cuboid: let hext = collider.halfExtents(); - instance = - this.instanceGroups[BOX_INSTANCE_INDEX][ - instanceDesc.instanceId - ]; + instance = this.instanceGroups[BOX_INSTANCE_INDEX][instanceDesc.instanceId]; instanceDesc.groupId = BOX_INSTANCE_INDEX; instanceDesc.scale = new THREE.Vector3(hext.x, hext.y, hext.z); break; case RAPIER.ShapeType.Ball: let rad = collider.radius(); - instance = - this.instanceGroups[BALL_INSTANCE_INDEX][ - instanceDesc.instanceId - ]; + instance = this.instanceGroups[BALL_INSTANCE_INDEX][instanceDesc.instanceId]; instanceDesc.groupId = BALL_INSTANCE_INDEX; instanceDesc.scale = new THREE.Vector3(rad, rad, rad); break; @@ -477,30 +446,16 @@ export class Graphics { case RAPIER.ShapeType.RoundCylinder: let cyl_rad = collider.radius(); let cyl_height = collider.halfHeight() * 2.0; - instance = - this.instanceGroups[CYLINDER_INSTANCE_INDEX][ - instanceDesc.instanceId - ]; + instance = this.instanceGroups[CYLINDER_INSTANCE_INDEX][instanceDesc.instanceId]; instanceDesc.groupId = CYLINDER_INSTANCE_INDEX; - instanceDesc.scale = new THREE.Vector3( - cyl_rad, - cyl_height, - cyl_rad, - ); + instanceDesc.scale = new THREE.Vector3(cyl_rad, cyl_height, cyl_rad); break; case RAPIER.ShapeType.Cone: let cone_rad = collider.radius(); let cone_height = collider.halfHeight() * 2.0; - instance = - this.instanceGroups[CONE_INSTANCE_INDEX][ - instanceDesc.instanceId - ]; + instance = this.instanceGroups[CONE_INSTANCE_INDEX][instanceDesc.instanceId]; instanceDesc.groupId = CONE_INSTANCE_INDEX; - instanceDesc.scale = new THREE.Vector3( - cone_rad, - cone_height, - cone_rad, - ); + instanceDesc.scale = new THREE.Vector3(cone_rad, cone_height, cone_rad); break; case RAPIER.ShapeType.TriMesh: case RAPIER.ShapeType.HeightField: @@ -525,10 +480,7 @@ export class Graphics { } geometry.setIndex(Array.from(indices)); - geometry.setAttribute( - "position", - new THREE.BufferAttribute(vertices, 3), - ); + geometry.setAttribute("position", new THREE.BufferAttribute(vertices, 3)); let color = parent.isFixed() ? 0 : this.colorIndex + 1; let material = new THREE.MeshPhongMaterial({ @@ -553,20 +505,14 @@ export class Graphics { } let highlightInstance = - this.instanceGroups[instanceDesc.groupId][ - this.highlightInstanceId() - ]; + this.instanceGroups[instanceDesc.groupId][this.highlightInstanceId()]; highlightInstance.count = 0; - let t = collider.translation(); - let r = collider.rotation(); - dummy.position.set(t.x, t.y, t.z); - dummy.quaternion.set(r.x, r.y, r.z, r.w); - dummy.scale.set( - instanceDesc.scale.x, - instanceDesc.scale.y, - instanceDesc.scale.z, - ); + collider.translation(_translation); + collider.rotation(_rotation); + dummy.position.set(_translation.x, _translation.y, _translation.z); + dummy.quaternion.set(_rotation.x, _rotation.y, _rotation.z, _rotation.w); + dummy.scale.set(instanceDesc.scale.x, instanceDesc.scale.y, instanceDesc.scale.z); dummy.updateMatrix(); instance.setMatrixAt(instanceDesc.elementId, dummy.matrix); instance.instanceMatrix.needsUpdate = true; diff --git a/testbed3d/src/Gui.ts b/packages/testbed3d/src/Gui.ts similarity index 74% rename from testbed3d/src/Gui.ts rename to packages/testbed3d/src/Gui.ts index e89b2f47..095ae5dd 100644 --- a/testbed3d/src/Gui.ts +++ b/packages/testbed3d/src/Gui.ts @@ -1,5 +1,5 @@ import GUI from "lil-gui"; -import * as Stats from "stats.js"; +import Stats from "stats.js"; import type {Testbed} from "./Testbed"; export interface DebugInfos { @@ -40,13 +40,11 @@ export class Gui { this.stats = new Stats(); this.rapierVersion = testbed.RAPIER.version(); this.maxTimePanelValue = 16.0; - this.stepTimePanel = this.stats.addPanel( - new Stats.Panel("ms (step)", "#ff8", "#221"), - ); + this.stepTimePanel = this.stats.addPanel(new Stats.Panel("ms (step)", "#ff8", "#221")); this.stats.showPanel(this.stats.dom.children.length - 1); document.body.appendChild(this.stats.dom); - var backends = simulationParameters.backends; + var _backends = simulationParameters.backends; var demos = Array.from(simulationParameters.builders.keys()); var me = this; @@ -59,10 +57,7 @@ export class Gui { .onChange((demo: string) => { testbed.switchToDemo(demo); }); - this.gui - .add(simulationParameters, "numSolverIters", 0, 20) - .step(1) - .listen(); + this.gui.add(simulationParameters, "numSolverIters", 0, 20).step(1).listen(); this.gui .add(simulationParameters, "debugInfos") .listen() @@ -105,50 +100,26 @@ export class Gui { text += "
[Step " + infos.stepId + "]"; if (infos.worldHash) { - text += - "
World hash (xxHash128): " + infos.worldHash.toString(); - text += - "
World hash time (xxHash128): " + - infos.worldHashTime + - "ms"; + text += "
World hash (xxHash128): " + infos.worldHash.toString(); + text += "
World hash time (xxHash128): " + infos.worldHashTime + "ms"; text += "
Snapshot time: " + infos.snapshotTime + "ms"; } text += "
timingStep: " + infos.timingStep + "ms"; - text += - "
timingCollisionDetection: " + - infos.timingCollisionDetection + - "ms"; + text += "
timingCollisionDetection: " + infos.timingCollisionDetection + "ms"; text += "
timingBroadPhase: " + infos.timingBroadPhase + "ms"; text += "
timingNarrowPhase: " + infos.timingNarrowPhase + "ms"; text += "
timingSolver: " + infos.timingSolver + "ms"; - text += - "
timingVelocityAssembly: " + - infos.timingVelocityAssembly + - "ms"; - text += - "
timingVelocityResolution: " + - infos.timingVelocityResolution + - "ms"; - text += - "
timingVelocityUpdate: " + infos.timingVelocityUpdate + "ms"; - text += - "
timingVelocityWriteback: " + - infos.timingVelocityWriteback + - "ms"; + text += "
timingVelocityAssembly: " + infos.timingVelocityAssembly + "ms"; + text += "
timingVelocityResolution: " + infos.timingVelocityResolution + "ms"; + text += "
timingVelocityUpdate: " + infos.timingVelocityUpdate + "ms"; + text += "
timingVelocityWriteback: " + infos.timingVelocityWriteback + "ms"; text += "
timingCcd: " + infos.timingCcd + "ms"; - text += - "
timingCcdToiComputation: " + - infos.timingCcdToiComputation + - "ms"; + text += "
timingCcdToiComputation: " + infos.timingCcdToiComputation + "ms"; text += "
timingCcdBroadPhase: " + infos.timingCcdBroadPhase + "ms"; - text += - "
timingCcdNarrowPhase: " + infos.timingCcdNarrowPhase + "ms"; + text += "
timingCcdNarrowPhase: " + infos.timingCcdNarrowPhase + "ms"; text += "
timingCcdSolver: " + infos.timingCcdSolver + "ms"; - text += - "
timingIslandConstruction: " + - infos.timingIslandConstruction + - "ms"; + text += "
timingIslandConstruction: " + infos.timingIslandConstruction + "ms"; text += "
timingUserChanges: " + infos.timingUserChanges + "ms"; this.debugText.innerHTML = text; } diff --git a/testbed3d/src/Testbed.ts b/packages/testbed3d/src/Testbed.ts similarity index 90% rename from testbed3d/src/Testbed.ts rename to packages/testbed3d/src/Testbed.ts index 5d3afd88..8aa8f291 100644 --- a/testbed3d/src/Testbed.ts +++ b/packages/testbed3d/src/Testbed.ts @@ -1,10 +1,10 @@ +import type * as RAPIER from "@alexandernanberg/rapier-3d"; +import {xxhash128} from "hash-wasm"; +import type {DebugInfos} from "./Gui"; import {Graphics} from "./Graphics"; import {Gui} from "./Gui"; -import type {DebugInfos} from "./Gui"; -import {xxhash128} from "hash-wasm"; -import type * as RAPIER from "@dimforge/rapier3d"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); type Builders = Map void>; @@ -121,7 +121,7 @@ export class Testbed { this.parameters.builders.get(demo)(this.RAPIER, this); } - switchToBackend(backend: string) { + switchToBackend(_backend: string) { this.switchToDemo(this.parameters.demo); } @@ -164,25 +164,20 @@ export class Testbed { worldHashTime: 0, snapshotTime: 0, timingStep: this.world.timingStep(), - timingCollisionDetection: - this.world.timingCollisionDetection(), + timingCollisionDetection: this.world.timingCollisionDetection(), timingBroadPhase: this.world.timingBroadPhase(), timingNarrowPhase: this.world.timingNarrowPhase(), timingSolver: this.world.timingSolver(), timingVelocityAssembly: this.world.timingVelocityAssembly(), - timingVelocityResolution: - this.world.timingVelocityResolution(), + timingVelocityResolution: this.world.timingVelocityResolution(), timingVelocityUpdate: this.world.timingVelocityUpdate(), - timingVelocityWriteback: - this.world.timingVelocityWriteback(), + timingVelocityWriteback: this.world.timingVelocityWriteback(), timingCcd: this.world.timingCcd(), - timingCcdToiComputation: - this.world.timingCcdToiComputation(), + timingCcdToiComputation: this.world.timingCcdToiComputation(), timingCcdBroadPhase: this.world.timingCcdBroadPhase(), timingCcdNarrowPhase: this.world.timingCcdNarrowPhase(), timingCcdSolver: this.world.timingCcdSolver(), - timingIslandConstruction: - this.world.timingIslandConstruction(), + timingIslandConstruction: this.world.timingIslandConstruction(), timingUserChanges: this.world.timingUserChanges(), }; t0 = performance.now(); diff --git a/testbed3d/src/demos/ccd.ts b/packages/testbed3d/src/demos/ccd.ts similarity index 87% rename from testbed3d/src/demos/ccd.ts rename to packages/testbed3d/src/demos/ccd.ts index 823c9013..1eafad78 100644 --- a/testbed3d/src/demos/ccd.ts +++ b/packages/testbed3d/src/demos/ccd.ts @@ -1,7 +1,7 @@ -import type RAPIER from "@dimforge/rapier3d"; +import type RAPIER from "@alexandernanberg/rapier-3d"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function createWall( RAPIER: RAPIER_API, @@ -19,15 +19,10 @@ function createWall( for (j = i; j < stackHeight; ++j) { let x = offset.x; let y = i * shiftY + offset.y; - let z = - (i * shiftZ) / 2.0 + (j - i) * shiftZ + offset.z - stackHeight; + let z = (i * shiftZ) / 2.0 + (j - i) * shiftZ + offset.z - stackHeight; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5, 1.0); world.createCollider(colliderDesc, body); diff --git a/testbed3d/src/demos/characterController.ts b/packages/testbed3d/src/demos/characterController.ts similarity index 80% rename from testbed3d/src/demos/characterController.ts rename to packages/testbed3d/src/demos/characterController.ts index 2406ebcc..1390a489 100644 --- a/testbed3d/src/demos/characterController.ts +++ b/packages/testbed3d/src/demos/characterController.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -28,35 +28,23 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let z = (i * shift) / 2.0 + (j - i) * shift - center; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad / 2.0, - rad, - ); + let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad / 2.0, rad); world.createCollider(colliderDesc, body); } } } // Character. - let characterDesc = - RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation( - -10.0, - 4.0, - -10.0, - ); + let characterDesc = RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation( + -10.0, + 4.0, + -10.0, + ); let character = world.createRigidBody(characterDesc); let characterColliderDesc = RAPIER.ColliderDesc.cylinder(1.2, 0.6); - let characterCollider = world.createCollider( - characterColliderDesc, - character, - ); + let characterCollider = world.createCollider(characterColliderDesc, character); let characterController = world.createCharacterController(0.1); characterController.enableAutostep(0.7, 0.3, true); @@ -66,10 +54,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let movementDirection = {x: 0.0, y: -speed, z: 0.0}; let updateCharacter = () => { - characterController.computeColliderMovement( - characterCollider, - movementDirection, - ); + characterController.computeColliderMovement(characterCollider, movementDirection); let movement = characterController.computedMovement(); let newPos = character.translation(); diff --git a/testbed3d/src/demos/collisionGroups.ts b/packages/testbed3d/src/demos/collisionGroups.ts similarity index 85% rename from testbed3d/src/demos/collisionGroups.ts rename to packages/testbed3d/src/demos/collisionGroups.ts index 49c9ddb7..c3850c10 100644 --- a/testbed3d/src/demos/collisionGroups.ts +++ b/packages/testbed3d/src/demos/collisionGroups.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -47,18 +47,10 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // Alternate between the green and blue groups. let group = k % 2 == 0 ? group1 : group2; - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad, - rad, - ).setCollisionGroups(group); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad).setCollisionGroups(group); world.createCollider(colliderDesc, body); } } diff --git a/testbed3d/src/demos/convexPolyhedron.ts b/packages/testbed3d/src/demos/convexPolyhedron.ts similarity index 89% rename from testbed3d/src/demos/convexPolyhedron.ts rename to packages/testbed3d/src/demos/convexPolyhedron.ts index 0ec4b903..0d0725c1 100644 --- a/testbed3d/src/demos/convexPolyhedron.ts +++ b/packages/testbed3d/src/demos/convexPolyhedron.ts @@ -1,7 +1,7 @@ -import type {Testbed} from "../Testbed"; import seedrandom from "seedrandom"; +import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) { let vertices = []; @@ -47,10 +47,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.fixed(); let body = world.createRigidBody(bodyDesc); let trimesh = generateTriMesh(20, 40.0, 4.0, 40.0); - let colliderDesc = RAPIER.ColliderDesc.trimesh( - trimesh.vertices, - trimesh.indices, - ); + let colliderDesc = RAPIER.ColliderDesc.trimesh(trimesh.vertices, trimesh.indices); world.createCollider(colliderDesc, body); /* @@ -82,16 +79,9 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let v = new Float32Array(vertices); // Build the rigid body. - bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); body = world.createRigidBody(bodyDesc); - colliderDesc = RAPIER.ColliderDesc.roundConvexHull( - v, - border_rad, - ); + colliderDesc = RAPIER.ColliderDesc.roundConvexHull(v, border_rad); world.createCollider(colliderDesc, body); } } diff --git a/testbed3d/src/demos/damping.ts b/packages/testbed3d/src/demos/damping.ts similarity index 94% rename from testbed3d/src/demos/damping.ts rename to packages/testbed3d/src/demos/damping.ts index c6295f66..3277bee3 100644 --- a/testbed3d/src/demos/damping.ts +++ b/packages/testbed3d/src/demos/damping.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, 0.0, 0.0); diff --git a/testbed3d/src/demos/fountain.ts b/packages/testbed3d/src/demos/fountain.ts similarity index 93% rename from testbed3d/src/demos/fountain.ts rename to packages/testbed3d/src/demos/fountain.ts index 00d8dced..cde6f8c1 100644 --- a/testbed3d/src/demos/fountain.ts +++ b/packages/testbed3d/src/demos/fountain.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -37,11 +37,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { colliderDesc = RAPIER.ColliderDesc.ball(rad); break; case 2: - colliderDesc = RAPIER.ColliderDesc.roundCylinder( - rad, - rad, - rad / 10.0, - ); + colliderDesc = RAPIER.ColliderDesc.roundCylinder(rad, rad, rad / 10.0); break; case 3: colliderDesc = RAPIER.ColliderDesc.cone(rad, rad); diff --git a/testbed3d/src/demos/glbToTrimesh.ts b/packages/testbed3d/src/demos/glbToTrimesh.ts similarity index 89% rename from testbed3d/src/demos/glbToTrimesh.ts rename to packages/testbed3d/src/demos/glbToTrimesh.ts index fa65a7cd..dfef72da 100644 --- a/testbed3d/src/demos/glbToTrimesh.ts +++ b/packages/testbed3d/src/demos/glbToTrimesh.ts @@ -1,7 +1,7 @@ -import type {Testbed} from "../Testbed"; import {Vector3, Object3D, Mesh, BufferGeometry, BufferAttribute} from "three"; -import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +import {GLTFLoader} from "three/addons/loaders/GLTFLoader.js"; +import type {Testbed} from "../Testbed"; +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -31,9 +31,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { const vertices: number[] = []; const indices = new Uint32Array(geometry.index!.array); // assume index is non-null - const positionAttribute = geometry.getAttribute( - "position", - ) as BufferAttribute; + const positionAttribute = geometry.getAttribute("position") as BufferAttribute; mesh.updateWorldMatrix(true, true); @@ -50,10 +48,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { const rigidBodyDesc = RAPIER.RigidBodyDesc.fixed(); const rigidBody = world.createRigidBody(rigidBodyDesc); - const colliderDesc = RAPIER.ColliderDesc.trimesh( - verticesArray, - indices, - ); + const colliderDesc = RAPIER.ColliderDesc.trimesh(verticesArray, indices); world.createCollider(colliderDesc, rigidBody); } }); diff --git a/testbed3d/src/demos/glbtoConvexHull.ts b/packages/testbed3d/src/demos/glbtoConvexHull.ts similarity index 81% rename from testbed3d/src/demos/glbtoConvexHull.ts rename to packages/testbed3d/src/demos/glbtoConvexHull.ts index a4d2619e..72e69d65 100644 --- a/testbed3d/src/demos/glbtoConvexHull.ts +++ b/packages/testbed3d/src/demos/glbtoConvexHull.ts @@ -1,14 +1,7 @@ +import {Vector3, Object3D, Mesh, BufferGeometry, BufferAttribute} from "three"; +import {GLTFLoader} from "three/addons/loaders/GLTFLoader.js"; import type {Testbed} from "../Testbed"; -import { - Vector3, - Object3D, - Mesh, - BufferGeometry, - BufferAttribute, - TriangleStripDrawMode, -} from "three"; -import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -38,9 +31,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { if ((child as Mesh).isMesh && (child as Mesh).geometry) { const mesh = child as Mesh; const geometry = mesh.geometry as BufferGeometry; - const positionAttribute = geometry.getAttribute( - "position", - ) as BufferAttribute; + const positionAttribute = geometry.getAttribute("position") as BufferAttribute; for (let i = 0, l = positionAttribute.count; i < l; i++) { v.fromBufferAttribute(positionAttribute, i); @@ -53,9 +44,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { const rigidBodyDesc = RAPIER.RigidBodyDesc.fixed(); const rigidBody = world.createRigidBody(rigidBodyDesc); - const colliderDesc = RAPIER.ColliderDesc.convexHull( - new Float32Array(positions), - ); + const colliderDesc = RAPIER.ColliderDesc.convexHull(new Float32Array(positions)); world.createCollider(colliderDesc, rigidBody); }); diff --git a/testbed3d/src/demos/heightfield.ts b/packages/testbed3d/src/demos/heightfield.ts similarity index 81% rename from testbed3d/src/demos/heightfield.ts rename to packages/testbed3d/src/demos/heightfield.ts index 5a2feece..072bb44d 100644 --- a/testbed3d/src/demos/heightfield.ts +++ b/packages/testbed3d/src/demos/heightfield.ts @@ -1,7 +1,7 @@ import seedrandom from "seedrandom"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function generateHeightfield(nsubdivs: number) { let heights = []; @@ -28,12 +28,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.fixed(); let body = world.createRigidBody(bodyDesc); let heights = generateHeightfield(nsubdivs); - let colliderDesc = RAPIER.ColliderDesc.heightfield( - nsubdivs, - nsubdivs, - heights, - scale, - ); + let colliderDesc = RAPIER.ColliderDesc.heightfield(nsubdivs, nsubdivs, heights, scale); world.createCollider(colliderDesc, body); // Dynamic cubes. @@ -55,41 +50,25 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let z = k * shift + offset; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); let colliderDesc; switch (j % 5) { case 0: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad, - rad, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); break; case 1: colliderDesc = RAPIER.ColliderDesc.ball(rad); break; case 2: - colliderDesc = RAPIER.ColliderDesc.roundCylinder( - rad, - rad, - rad / 10.0, - ); + colliderDesc = RAPIER.ColliderDesc.roundCylinder(rad, rad, rad / 10.0); break; case 3: colliderDesc = RAPIER.ColliderDesc.cone(rad, rad); break; case 4: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, - rad / 2.0, - rad / 2.0, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad / 2.0, rad / 2.0); world.createCollider(colliderDesc, body); colliderDesc = RAPIER.ColliderDesc.cuboid( rad / 2.0, diff --git a/testbed3d/src/demos/joints.ts b/packages/testbed3d/src/demos/joints.ts similarity index 83% rename from testbed3d/src/demos/joints.ts rename to packages/testbed3d/src/demos/joints.ts index 56546d7f..d05fb1cc 100644 --- a/testbed3d/src/demos/joints.ts +++ b/packages/testbed3d/src/demos/joints.ts @@ -1,7 +1,7 @@ -import type RAPIER from "@dimforge/rapier3d"; +import type RAPIER from "@alexandernanberg/rapier-3d"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function createPrismaticJoints( RAPIER: RAPIER_API, @@ -12,11 +12,7 @@ function createPrismaticJoints( let rad = 0.4; let shift = 1.0; - let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - origin.x, - origin.y, - origin.z, - ); + let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(origin.x, origin.y, origin.z); let currParent = world.createRigidBody(groundDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); world.createCollider(colliderDesc, currParent); @@ -26,11 +22,7 @@ function createPrismaticJoints( for (i = 0; i < num; ++i) { z = origin.z + (i + 1) * shift; - let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - origin.x, - origin.y, - z, - ); + let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(origin.x, origin.y, z); let currChild = world.createRigidBody(rigidBodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); world.createCollider(colliderDesc, currChild); @@ -66,11 +58,7 @@ function createRevoluteJoints( let rad = 0.4; let shift = 2.0; - let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - origin.x, - origin.y, - 0.0, - ); + let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(origin.x, origin.y, 0.0); let currParent = world.createRigidBody(groundDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); world.createCollider(colliderDesc, currParent); @@ -110,26 +98,10 @@ function createRevoluteJoints( z = new RAPIER.Vector3(0.0, 0.0, 1.0); let revs = [ - RAPIER.JointData.revolute( - o, - new RAPIER.Vector3(0.0, 0.0, -shift), - z, - ), - RAPIER.JointData.revolute( - o, - new RAPIER.Vector3(-shift, 0.0, 0.0), - x, - ), - RAPIER.JointData.revolute( - o, - new RAPIER.Vector3(0.0, 0.0, -shift), - z, - ), - RAPIER.JointData.revolute( - o, - new RAPIER.Vector3(shift, 0.0, 0.0), - x, - ), + RAPIER.JointData.revolute(o, new RAPIER.Vector3(0.0, 0.0, -shift), z), + RAPIER.JointData.revolute(o, new RAPIER.Vector3(-shift, 0.0, 0.0), x), + RAPIER.JointData.revolute(o, new RAPIER.Vector3(0.0, 0.0, -shift), z), + RAPIER.JointData.revolute(o, new RAPIER.Vector3(shift, 0.0, 0.0), x), ]; world.createImpulseJoint(revs[0], currParent, parents[0], true); @@ -209,11 +181,7 @@ function createFixedJoints( } } -function createBallJoints( - RAPIER: RAPIER_API, - world: RAPIER.World, - num: number, -) { +function createBallJoints(RAPIER: RAPIER_API, world: RAPIER.World, num: number) { let rad = 0.4; let shift = 1.0; let i, k; @@ -246,10 +214,7 @@ function createBallJoints( if (i > 0) { let parent = parents[parents.length - 1]; - let params = RAPIER.JointData.spherical( - o, - new RAPIER.Vector3(0.0, 0.0, -shift), - ); + let params = RAPIER.JointData.spherical(o, new RAPIER.Vector3(0.0, 0.0, -shift)); world.createImpulseJoint(params, parent, child, true); } @@ -257,10 +222,7 @@ function createBallJoints( if (k > 0) { let parent_index = parents.length - num; let parent = parents[parent_index]; - let params = RAPIER.JointData.spherical( - o, - new RAPIER.Vector3(-shift, 0.0, 0.0), - ); + let params = RAPIER.JointData.spherical(o, new RAPIER.Vector3(-shift, 0.0, 0.0)); world.createImpulseJoint(params, parent, child, true); } @@ -273,12 +235,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); let world = new RAPIER.World(gravity); - createPrismaticJoints( - RAPIER, - world, - new RAPIER.Vector3(20.0, 10.0, 0.0), - 5, - ); + createPrismaticJoints(RAPIER, world, new RAPIER.Vector3(20.0, 10.0, 0.0), 5); createFixedJoints(RAPIER, world, new RAPIER.Vector3(0.0, 10.0, 0.0), 5); createRevoluteJoints(RAPIER, world, new RAPIER.Vector3(20.0, 0.0, 0.0), 3); createBallJoints(RAPIER, world, 15); diff --git a/testbed3d/src/demos/keva.ts b/packages/testbed3d/src/demos/keva.ts similarity index 82% rename from testbed3d/src/demos/keva.ts rename to packages/testbed3d/src/demos/keva.ts index d4e27cb0..e9c3c59d 100644 --- a/testbed3d/src/demos/keva.ts +++ b/packages/testbed3d/src/demos/keva.ts @@ -1,7 +1,7 @@ -import type RAPIER from "@dimforge/rapier3d"; +import type RAPIER from "@alexandernanberg/rapier-3d"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function buildBlock( RAPIER: RAPIER_API, @@ -43,11 +43,7 @@ function buildBlock( z + dim.z + shift.z, ); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.cuboid( - dim.x, - dim.y, - dim.z, - ); + let colliderDesc = RAPIER.ColliderDesc.cuboid(dim.x, dim.y, dim.z); world.createCollider(colliderDesc, body); } } @@ -78,17 +74,9 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // Create Ground. let groundSize = 50.0; let groundHeight = 0.1; - let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - 0.0, - -groundHeight, - 0.0, - ); + let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(0.0, -groundHeight, 0.0); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.cuboid( - groundSize, - groundHeight, - groundSize, - ); + let colliderDesc = RAPIER.ColliderDesc.cuboid(groundSize, groundHeight, groundSize); world.createCollider(colliderDesc, body); // Keva tower. @@ -97,7 +85,6 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { // These should only be set to odd values otherwise // the blocks won't align in the nicest way. let numyArr = [0, 3, 5, 5, 7, 9]; - let numBlocksBuilt = 0; let i; for (i = 5; i >= 1; --i) { @@ -109,17 +96,12 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { RAPIER, world, halfExtents, - new RAPIER.Vector3( - -blockWidth / 2.0, - blockHeight, - -blockWidth / 2.0, - ), + new RAPIER.Vector3(-blockWidth / 2.0, blockHeight, -blockWidth / 2.0), numx, numy, numz, ); blockHeight += numy * halfExtents.y * 2.0 + halfExtents.x * 2.0; - numBlocksBuilt += numx * numy * numz; } testbed.setWorld(world); diff --git a/testbed3d/src/demos/lockedRotations.ts b/packages/testbed3d/src/demos/lockedRotations.ts similarity index 74% rename from testbed3d/src/demos/lockedRotations.ts rename to packages/testbed3d/src/demos/lockedRotations.ts index e3b4c538..248f14af 100644 --- a/testbed3d/src/demos/lockedRotations.ts +++ b/packages/testbed3d/src/demos/lockedRotations.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -12,17 +12,9 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let ground_size = 1.7; let ground_height = 0.1; - let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation( - 0.0, - -ground_height, - 0.0, - ); + let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(0.0, -ground_height, 0.0); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.cuboid( - ground_size, - ground_height, - ground_size, - ); + let colliderDesc = RAPIER.ColliderDesc.cuboid(ground_size, ground_height, ground_size); world.createCollider(colliderDesc, body); /* @@ -39,9 +31,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { /* * A cylinder that cannot rotate. */ - bodyDesc = RAPIER.RigidBodyDesc.dynamic() - .setTranslation(0.2, 5.0, 0.4) - .lockRotations(); + bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(0.2, 5.0, 0.4).lockRotations(); body = world.createRigidBody(bodyDesc); colliderDesc = RAPIER.ColliderDesc.cylinder(0.6, 0.4); world.createCollider(colliderDesc, body); diff --git a/testbed3d/src/demos/pidController.ts b/packages/testbed3d/src/demos/pidController.ts similarity index 80% rename from testbed3d/src/demos/pidController.ts rename to packages/testbed3d/src/demos/pidController.ts index ea3e1286..28066755 100644 --- a/testbed3d/src/demos/pidController.ts +++ b/packages/testbed3d/src/demos/pidController.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -28,17 +28,9 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let z = (i * shift) / 2.0 + (j - i) * shift - center; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); - let colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad / 2.0, - rad, - ); + let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad / 2.0, rad); world.createCollider(colliderDesc, body); } } @@ -53,12 +45,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let characterColliderDesc = RAPIER.ColliderDesc.cylinder(1.2, 0.6); world.createCollider(characterColliderDesc, character); - let pidController = world.createPidController( - 60.0, - 0.0, - 1.0, - RAPIER.PidAxesMask.AllAng, - ); + let pidController = world.createPidController(60.0, 0.0, 1.0, RAPIER.PidAxesMask.AllAng); let speed = 0.2; let movementDirection = {x: 0.0, y: 0.0, z: 0.0}; let targetVelocity = {x: 0.0, y: 0.0, z: 0.0}; @@ -75,9 +62,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { } else if (movementDirection.y == 0.0) { // Don’t control the linear Y axis so the player can fall down due to gravity. pidController.setAxes( - RAPIER.PidAxesMask.AllAng | - RAPIER.PidAxesMask.LinX | - RAPIER.PidAxesMask.LinZ, + RAPIER.PidAxesMask.AllAng | RAPIER.PidAxesMask.LinX | RAPIER.PidAxesMask.LinZ, ); } else { pidController.setAxes(RAPIER.PidAxesMask.All); @@ -88,16 +73,8 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { targetPoint.y += movementDirection.y; targetPoint.z += movementDirection.z; - pidController.applyLinearCorrection( - character, - targetPoint, - targetVelocity, - ); - pidController.applyAngularCorrection( - character, - targetRotation, - targetVelocity, - ); + pidController.applyLinearCorrection(character, targetPoint, targetVelocity); + pidController.applyAngularCorrection(character, targetRotation, targetVelocity); }; testbed.setWorld(world); diff --git a/testbed3d/src/demos/platform.ts b/packages/testbed3d/src/demos/platform.ts similarity index 85% rename from testbed3d/src/demos/platform.ts rename to packages/testbed3d/src/demos/platform.ts index fe51d9ae..0c78b267 100644 --- a/testbed3d/src/demos/platform.ts +++ b/packages/testbed3d/src/demos/platform.ts @@ -1,7 +1,7 @@ import seedrandom from "seedrandom"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) { let vertices = []; @@ -47,10 +47,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.kinematicVelocityBased(); let platformBody = world.createRigidBody(bodyDesc); let trimesh = generateTriMesh(20, 70.0, 4.0, 70.0); - let colliderDesc = RAPIER.ColliderDesc.trimesh( - trimesh.vertices, - trimesh.indices, - ); + let colliderDesc = RAPIER.ColliderDesc.trimesh(trimesh.vertices, trimesh.indices); world.createCollider(colliderDesc, platformBody); let t = 0.0; @@ -81,41 +78,25 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let z = k * shift + offset; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); let colliderDesc; switch (j % 5) { case 0: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad, - rad, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); break; case 1: colliderDesc = RAPIER.ColliderDesc.ball(rad); break; case 2: - colliderDesc = RAPIER.ColliderDesc.roundCylinder( - rad, - rad, - rad / 10.0, - ); + colliderDesc = RAPIER.ColliderDesc.roundCylinder(rad, rad, rad / 10.0); break; case 3: colliderDesc = RAPIER.ColliderDesc.cone(rad, rad); break; case 4: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, - rad / 2.0, - rad / 2.0, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad / 2.0, rad / 2.0); world.createCollider(colliderDesc, body); colliderDesc = RAPIER.ColliderDesc.cuboid( rad / 2.0, diff --git a/testbed3d/src/demos/pyramid.ts b/packages/testbed3d/src/demos/pyramid.ts similarity index 78% rename from testbed3d/src/demos/pyramid.ts rename to packages/testbed3d/src/demos/pyramid.ts index 9a63e47e..6e5c57d5 100644 --- a/testbed3d/src/demos/pyramid.ts +++ b/packages/testbed3d/src/demos/pyramid.ts @@ -1,6 +1,6 @@ import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0); @@ -23,18 +23,12 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { for (i = 0; i < num; ++i) { for (j = i; j < num; ++j) { for (k = i; k < num; ++k) { - let x = - (i * shift) / 2.0 + (k - i) * shift - height * rad - center; + let x = (i * shift) / 2.0 + (k - i) * shift - height * rad - center; let y = i * shift + height; - let z = - (i * shift) / 2.0 + (j - i) * shift - height * rad - center; + let z = (i * shift) / 2.0 + (j - i) * shift - height * rad - center; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); world.createCollider(colliderDesc, body); diff --git a/testbed3d/src/demos/trimesh.ts b/packages/testbed3d/src/demos/trimesh.ts similarity index 84% rename from testbed3d/src/demos/trimesh.ts rename to packages/testbed3d/src/demos/trimesh.ts index 5a50bd3b..9fc77cf3 100644 --- a/testbed3d/src/demos/trimesh.ts +++ b/packages/testbed3d/src/demos/trimesh.ts @@ -1,7 +1,7 @@ import seedrandom from "seedrandom"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) { let vertices = []; @@ -47,10 +47,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.fixed(); let body = world.createRigidBody(bodyDesc); let trimesh = generateTriMesh(20, 70.0, 4.0, 70.0); - let colliderDesc = RAPIER.ColliderDesc.trimesh( - trimesh.vertices, - trimesh.indices, - ); + let colliderDesc = RAPIER.ColliderDesc.trimesh(trimesh.vertices, trimesh.indices); world.createCollider(colliderDesc, body); // Dynamic cubes. @@ -72,41 +69,25 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let z = k * shift + offset; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); let colliderDesc; switch (j % 5) { case 0: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad, - rad, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); break; case 1: colliderDesc = RAPIER.ColliderDesc.ball(rad); break; case 2: - colliderDesc = RAPIER.ColliderDesc.roundCylinder( - rad, - rad, - rad / 10.0, - ); + colliderDesc = RAPIER.ColliderDesc.roundCylinder(rad, rad, rad / 10.0); break; case 3: colliderDesc = RAPIER.ColliderDesc.cone(rad, rad); break; case 4: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, - rad / 2.0, - rad / 2.0, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad / 2.0, rad / 2.0); world.createCollider(colliderDesc, body); colliderDesc = RAPIER.ColliderDesc.cuboid( rad / 2.0, diff --git a/testbed3d/src/demos/voxels.ts b/packages/testbed3d/src/demos/voxels.ts similarity index 76% rename from testbed3d/src/demos/voxels.ts rename to packages/testbed3d/src/demos/voxels.ts index 936b8730..ba50fa47 100644 --- a/testbed3d/src/demos/voxels.ts +++ b/packages/testbed3d/src/demos/voxels.ts @@ -1,7 +1,6 @@ -import seedrandom from "seedrandom"; import type {Testbed} from "../Testbed"; -type RAPIER_API = typeof import("@dimforge/rapier3d"); +type RAPIER_API = typeof import("@alexandernanberg/rapier-3d"); function generateVoxels(n: number) { let points = []; @@ -10,13 +9,8 @@ function generateVoxels(n: number) { for (i = 0; i <= n; ++i) { for (j = 0; j <= n; ++j) { let y = - Math.max( - -0.8, - Math.min( - Math.sin((i / n) * 10.0) * Math.cos((j / n) * 10.0), - 0.8, - ), - ) * 8.0; + Math.max(-0.8, Math.min(Math.sin((i / n) * 10.0) * Math.cos((j / n) * 10.0), 0.8)) * + 8.0; points.push(i - n / 2.0, y, j - n / 2.0); } } @@ -34,10 +28,7 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let bodyDesc = RAPIER.RigidBodyDesc.fixed(); let body = world.createRigidBody(bodyDesc); let voxels = generateVoxels(100); - let colliderDesc = RAPIER.ColliderDesc.voxels( - voxels.points, - voxels.voxelSize, - ); + let colliderDesc = RAPIER.ColliderDesc.voxels(voxels.points, voxels.voxelSize); world.createCollider(colliderDesc, body); // Dynamic cubes. @@ -59,41 +50,25 @@ export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) { let z = k * shift + offset; // Create dynamic cube. - let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation( - x, - y, - z, - ); + let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y, z); let body = world.createRigidBody(bodyDesc); let colliderDesc; switch (j % 5) { case 0: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad, - rad, - rad, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad); break; case 1: colliderDesc = RAPIER.ColliderDesc.ball(rad); break; case 2: - colliderDesc = RAPIER.ColliderDesc.roundCylinder( - rad, - rad, - rad / 10.0, - ); + colliderDesc = RAPIER.ColliderDesc.roundCylinder(rad, rad, rad / 10.0); break; case 3: colliderDesc = RAPIER.ColliderDesc.cone(rad, rad); break; case 4: - colliderDesc = RAPIER.ColliderDesc.cuboid( - rad / 2.0, - rad / 2.0, - rad / 2.0, - ); + colliderDesc = RAPIER.ColliderDesc.cuboid(rad / 2.0, rad / 2.0, rad / 2.0); world.createCollider(colliderDesc, body); colliderDesc = RAPIER.ColliderDesc.cuboid( rad / 2.0, diff --git a/testbed3d/src/index.ts b/packages/testbed3d/src/index.ts similarity index 94% rename from testbed3d/src/index.ts rename to packages/testbed3d/src/index.ts index accfad53..63a2e9d7 100644 --- a/testbed3d/src/index.ts +++ b/packages/testbed3d/src/index.ts @@ -1,23 +1,24 @@ -import {Testbed} from "./Testbed"; -import * as Trimesh from "./demos/trimesh"; -import * as Voxels from "./demos/voxels"; +import * as CCD from "./demos/ccd"; +import * as CharacterController from "./demos/characterController"; import * as CollisionGroups from "./demos/collisionGroups"; -import * as Pyramid from "./demos/pyramid"; -import * as Keva from "./demos/keva"; -import * as Joints from "./demos/joints"; -import * as Fountain from "./demos/fountain"; +import * as ConvexPolyhedron from "./demos/convexPolyhedron"; import * as Damping from "./demos/damping"; +import * as Fountain from "./demos/fountain"; +import * as glbToConvexHull from "./demos/glbtoConvexHull"; +import * as glbToTrimesh from "./demos/glbToTrimesh"; import * as Heightfield from "./demos/heightfield"; +import * as Joints from "./demos/joints"; +import * as Keva from "./demos/keva"; import * as LockedRotations from "./demos/lockedRotations"; -import * as ConvexPolyhedron from "./demos/convexPolyhedron"; -import * as CCD from "./demos/ccd"; -import * as Platform from "./demos/platform"; -import * as CharacterController from "./demos/characterController"; import * as PidController from "./demos/pidController"; -import * as glbToTrimesh from "./demos/glbToTrimesh"; -import * as glbToConvexHull from "./demos/glbtoConvexHull"; +import * as Platform from "./demos/platform"; +import * as Pyramid from "./demos/pyramid"; +import * as Trimesh from "./demos/trimesh"; +import * as Voxels from "./demos/voxels"; +import {Testbed} from "./Testbed"; -import("@dimforge/rapier3d").then((RAPIER) => { +import("@alexandernanberg/rapier-3d/compat-simd").then(async (RAPIER) => { + await RAPIER.init(); let builders = new Map([ ["collision groups", CollisionGroups.initWorld], ["character controller", CharacterController.initWorld], diff --git a/testbed3d/tsconfig.json b/packages/testbed3d/tsconfig.json similarity index 60% rename from testbed3d/tsconfig.json rename to packages/testbed3d/tsconfig.json index 5d07ecd8..af046b8c 100644 --- a/testbed3d/tsconfig.json +++ b/packages/testbed3d/tsconfig.json @@ -5,7 +5,8 @@ "module": "es2022", "target": "es2022", "allowJs": true, - "moduleResolution": "node", - "allowSyntheticDefaultImports": true + "moduleResolution": "bundler", + "allowSyntheticDefaultImports": true, + "skipLibCheck": true } } diff --git a/packages/testbed3d/vite.config.ts b/packages/testbed3d/vite.config.ts new file mode 100644 index 00000000..8efe6d74 --- /dev/null +++ b/packages/testbed3d/vite.config.ts @@ -0,0 +1,9 @@ +import {defineConfig} from "vite"; +import wasm from "vite-plugin-wasm"; + +export default defineConfig({ + plugins: [wasm()], + build: { + target: "esnext", + }, +}); diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml new file mode 100644 index 00000000..24b0c675 --- /dev/null +++ b/pnpm-lock.yaml @@ -0,0 +1,2129 @@ +lockfileVersion: '9.0' + +settings: + autoInstallPeers: true + excludeLinksFromLockfile: false + +importers: + + .: + devDependencies: + oxfmt: + specifier: 0.27.0 + version: 0.27.0 + oxlint: + specifier: ^1.42.0 + version: 1.42.0 + typedoc: + specifier: 0.28.16 + version: 0.28.16(typescript@5.7.3) + typescript: + specifier: 5.7.3 + version: 5.7.3 + wasm-pack: + specifier: 0.14.0 + version: 0.14.0 + + packages/benchmarks: + dependencies: + '@alexandernanberg/rapier-2d': + specifier: workspace:* + version: link:../rapier-2d + '@alexandernanberg/rapier-3d': + specifier: workspace:* + version: link:../rapier-3d + '@dimforge/rapier2d-compat': + specifier: ^0.19.3 + version: 0.19.3 + '@dimforge/rapier2d-simd-compat': + specifier: ^0.19.3 + version: 0.19.3 + '@dimforge/rapier3d-compat': + specifier: ^0.19.3 + version: 0.19.3 + '@dimforge/rapier3d-simd-compat': + specifier: ^0.19.3 + version: 0.19.3 + devDependencies: + '@types/node': + specifier: ^22.19.7 + version: 22.19.7 + tsx: + specifier: ^4.21.0 + version: 4.21.0 + + packages/rapier-2d: + dependencies: + base64-js: + specifier: ^1.5.1 + version: 1.5.1 + devDependencies: + tsdown: + specifier: ^0.20.1 + version: 0.20.1(typescript@5.9.3) + typescript: + specifier: ^5.9.3 + version: 5.9.3 + + packages/rapier-3d: + dependencies: + base64-js: + specifier: ^1.5.1 + version: 1.5.1 + devDependencies: + tsdown: + specifier: ^0.20.1 + version: 0.20.1(typescript@5.9.3) + typescript: + specifier: ^5.9.3 + version: 5.9.3 + + packages/testbed2d: + dependencies: + '@alexandernanberg/rapier-2d': + specifier: workspace:* + version: link:../rapier-2d + hash-wasm: + specifier: ^4.12.0 + version: 4.12.0 + lil-gui: + specifier: ^0.21.0 + version: 0.21.0 + pixi-viewport: + specifier: ^6.0.3 + version: 6.0.3(pixi.js@8.15.0) + pixi.js: + specifier: ^8.15.0 + version: 8.15.0 + 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version 0.0.0-$(git rev-parse --short HEAD)-$(date '+%Y%m%d') --git-tag-version false; - npm publish --tag canary --access public; - ) -done; - -for entry in rapier-compat/builds/*/pkg -do - ( - echo "Publishing $entry" - cd $entry; npm version 0.0.0-$(git rev-parse --short HEAD)-$(date '+%Y%m%d') --git-tag-version false; - npm publish --tag canary --access public; - ) -done; \ No newline at end of file diff --git a/publish_all_prod.sh b/publish_all_prod.sh deleted file mode 100755 index f04915cb..00000000 --- a/publish_all_prod.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -for entry in builds/*/pkg -do - ( - echo "Publishing $entry" - cd $entry; - npm publish --access public; - ) -done; - -for entry in rapier-compat/builds/*/pkg -do - ( - echo "Publishing $entry" - cd $entry; - npm publish --access public; - ) -done; \ No newline at end of file diff --git a/rapier-compat/README.md b/rapier-compat/README.md deleted file mode 100644 index 5d440ec2..00000000 --- a/rapier-compat/README.md +++ /dev/null @@ -1,16 +0,0 @@ -# tsconfig json files - -- tsconfig.common.json - shared TypeScript options -- tsconfig.pkg2d.json - config for compiling rapier2d-compat -- tsconfig.pkg3d.json - config for compiling rapier3d-compat -- tconfig.json - for IDE (VSCode) and unit tests. Includes Jest types. - -## Generation steps - -Check `./package.json scripts`, which are used by CI. - -Summary: - -- build rust wasm projects into their dedicated folder in `./builds/` -- copy common javascript and generate dimension specific javascript into a common `./pkg` folder -- copy that `pkg` folder in each folder from `./builds` diff --git a/rapier-compat/build-rust.sh b/rapier-compat/build-rust.sh deleted file mode 100755 index 2acd18f8..00000000 --- a/rapier-compat/build-rust.sh +++ /dev/null @@ -1,50 +0,0 @@ -#!/bin/bash - - -help() -{ - printf "Usage: %s: [-d 2|3] [-f deterministim|non-deterministic|simd]\n" $0 -} - -while getopts :d:f: name -do - case $name in - d) - dimension="$OPTARG";; - f) - feature="$OPTARG";; - ?) help ; exit 1;; - esac -done - -if [[ -z "$dimension" ]]; then - help; exit 2; -fi -if [[ -z "$feature" ]]; then - help; exit 3; -fi - -if [[ $feature == "non-deterministic" ]]; then - feature_postfix="" -else - feature_postfix="-${feature}" -fi - -rust_source_directory="../builds/rapier${dimension}d${feature_postfix}" - -if [ ! -d "$rust_source_directory" ]; then - echo "Directory $rust_source_directory does not exist"; - echo "You may want to generate rust projects first."; - help - exit 4; -fi - -# Working dir in wasm-pack is the project root so we need that "../../" - -if [[ $feature == "simd" ]]; then - export additional_rustflags='-C target-feature=+simd128' -else - export additional_rustflags='' -fi - -RUSTFLAGS="${additional_rustflags}" wasm-pack --verbose build --target web --out-dir "../../rapier-compat/builds/${dimension}d${feature_postfix}/wasm-build" "$rust_source_directory" diff --git a/rapier-compat/fix_raw_file.sh b/rapier-compat/fix_raw_file.sh deleted file mode 100644 index 66f8bfaf..00000000 --- a/rapier-compat/fix_raw_file.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/bin/bash - -for feature in \ -2d 2d-deterministic 2d-simd \ -3d 3d-deterministic 3d-simd -do - -echo 'export * from "'"./rapier_wasm$feature"'"' > builds/${feature}/pkg/raw.d.ts -echo 'export * from "'"./rapier_wasm$feature"'"' > builds/${feature}/pkg/raw.d.ts - -done; \ No newline at end of file diff --git a/rapier-compat/gen_src.sh b/rapier-compat/gen_src.sh deleted file mode 100755 index 24ccc441..00000000 --- a/rapier-compat/gen_src.sh +++ /dev/null @@ -1,58 +0,0 @@ -# Copy source and remove #if sections - similar to script in ../rapierXd -set -e - -gen_js() { - DIM=$1 - GENOUT="./gen${DIM}" - - # Make output directories - mkdir -p ${GENOUT} - - # Copy common sources - cp -r ../src.ts/* $GENOUT - - # Copy compat mode override sources - rm -f "${GENOUT}/raw.ts" "${GENOUT}/init.ts" - cp -r ./src${DIM}/* $GENOUT -} - -gen_js "2d" -gen_js "3d" - -# See https://serverfault.com/a/137848 -find gen2d/ -type f -print0 | LC_ALL=C xargs -0 sed -i.bak '\:#if DIM3:,\:#endif:d' -find gen3d/ -type f -print0 | LC_ALL=C xargs -0 sed -i.bak '\:#if DIM2:,\:#endif:d' - -# Clean up backup files. -find gen2d/ -type f -name '*.bak' | xargs rm -find gen3d/ -type f -name '*.bak' | xargs rm - -for features_set in \ -"2" "2 deterministic" "2 simd" \ -"3" "3 deterministic" "3 simd" -do - - set -- $features_set # Convert the "tuple" into the param args $1 $2... - dimension=$1 - if [ -z "$2" ]; then - feature="${1}d"; - else - feature="${1}d-${2}"; - fi - - mkdir -p ./builds/${feature}/pkg/ - - cp ./builds/${feature}/wasm-build/rapier_wasm* ./builds/${feature}/pkg/ - cp -r ./gen${dimension}d ./builds/${feature}/ - - # copy tsconfig, as they contain paths - cp ./tsconfig.common.json ./tsconfig.json ./builds/${feature}/ - cp ./tsconfig.pkg${dimension}d.json ./builds/${feature}/tsconfig.pkg.json - - # "import.meta" causes Babel to choke, but the code path is never taken so just remove it. - sed -i.bak 's/import.meta.url/""/g' ./builds/${feature}/pkg/rapier_wasm${dimension}d.js - - # Clean up backup files. - find ./builds/${feature}/pkg/ -type f -name '*.bak' | xargs rm - -done diff --git a/rapier-compat/package-lock.json b/rapier-compat/package-lock.json deleted file mode 100644 index 22b6f023..00000000 --- a/rapier-compat/package-lock.json +++ /dev/null @@ -1,10500 +0,0 @@ -{ - 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"name": "build-rapier", - "description": "Build scripts for compatibility package with inlined webassembly as base64.", - "private": true, - "scripts": { - "build-rust-2d-non-deterministic": "./build-rust.sh -f non-deterministic -d 2", - "build-rust-2d-deterministic": "./build-rust.sh -f deterministic -d 2", - "build-rust-2d-simd": "./build-rust.sh -f simd -d 2", - "build-rust-2d-all": "npm run build-rust-2d-non-deterministic && npm run build-rust-2d-deterministic && npm run build-rust-2d-simd", - "build-rust-3d-non-deterministic": "./build-rust.sh -f non-deterministic -d 3", - "build-rust-3d-deterministic": "./build-rust.sh -f deterministic -d 3", - "build-rust-3d-simd": "./build-rust.sh -f simd -d 3", - "build-rust-3d-all": "npm run build-rust-3d-non-deterministic && npm run build-rust-3d-deterministic && npm run build-rust-3d-simd", - "build-rust-all": "npm run build-rust-2d-all && npm run build-rust-3d-all", - "build-genjs": "sh ./gen_src.sh", - "build-js": "rollup --config rollup.config.js --bundleConfigAsCjs", - "fix-raw-file": "sh ./fix_raw_file.sh", - "build": "npm run clean && npm run build-rust-all && npm run build-genjs && npm run build-js && npm run fix-raw-file", - "clean": "rimraf gen2d gen3d builds", - "test": "jest --detectOpenHandles", - "all": "npm run build" - }, - "dependencies": { - "base64-js": "^1.5.1" - }, - "devDependencies": { - "@rollup/plugin-commonjs": "^23.0.2", - "@rollup/plugin-node-resolve": "^15.0.1", - "@rollup/plugin-typescript": "^9.0.2", - "@rollup/plugin-terser": "0.1.0", - "@types/jest": "^29.2.1", - "jest": "^29.2.2", - "rimraf": "^3.0.2", - "rollup": "^3.2.5", - "rollup-plugin-base64": "^1.0.1", - "rollup-plugin-copy": "^3.4.0", - "rollup-plugin-filesize": "^9.1.2", - "ts-jest": "^29.0.3", - "tslib": "^2.4.1", - "typescript": "^4.8.4" - }, - "jest": { - "roots": [ - "/tests" - ], - "preset": "ts-jest", - "collectCoverageFrom": [ - "builds/**/pkg/**/*.js" - ], - "transformIgnorePatterns": [ - "[/\\\\]node_modules[/\\\\].+\\.(js|ts)$", - "builds/.*/[/\\\\]pkg[/\\\\].+\\.(js|ts)$" - ], - "moduleFileExtensions": [ - "ts", - "js" - ] - } -} diff --git a/rapier-compat/rollup.config.js b/rapier-compat/rollup.config.js deleted file mode 100644 index d127c671..00000000 --- a/rapier-compat/rollup.config.js +++ /dev/null @@ -1,85 +0,0 @@ -import commonjs from "@rollup/plugin-commonjs"; -import {nodeResolve} from "@rollup/plugin-node-resolve"; -import typescript from "@rollup/plugin-typescript"; -import terser from "@rollup/plugin-terser"; -import path from "path"; -import {base64} from "rollup-plugin-base64"; -import copy from "rollup-plugin-copy"; -import filesize from "rollup-plugin-filesize"; - -const config = (dim, features_postfix) => ({ - input: `builds/${features_postfix}/gen${dim}/rapier.ts`, - output: [ - { - file: `builds/${features_postfix}/pkg/rapier.mjs`, - format: "es", - sourcemap: true, - exports: "named", - }, - { - file: `builds/${features_postfix}/pkg/rapier.cjs`, - format: "cjs", - sourcemap: true, - exports: "named", - }, - ], - plugins: [ - copy({ - targets: [ - { - src: `builds/${features_postfix}/wasm-build/package.json`, - dest: `builds/${features_postfix}/pkg/`, - transform(content) { - let config = JSON.parse(content.toString()); - config.name = `@dimforge/rapier${features_postfix}-compat`; - config.description += - " Compatibility package with inlined webassembly as base64."; - config.types = "rapier.d.ts"; - config.main = "rapier.cjs"; - config.module = "rapier.mjs"; - config.exports = { - ".": { - types: "./rapier.d.ts", - require: "./rapier.cjs", - import: "./rapier.mjs", - }, - }; - // delete config.module; - config.files = ["*"]; - return JSON.stringify(config, undefined, 2); - }, - }, - { - src: `../rapier${features_postfix}/LICENSE`, - dest: `builds/${features_postfix}/pkg`, - }, - { - src: `../rapier${features_postfix}/README.md`, - dest: `builds/${features_postfix}/pkg`, - }, - ], - }), - base64({include: "**/*.wasm"}), - terser(), - nodeResolve(), - commonjs(), - typescript({ - tsconfig: path.resolve( - __dirname, - `builds/${features_postfix}/tsconfig.pkg.json`, - ), - sourceMap: true, - inlineSources: true, - }), - filesize(), - ], -}); - -export default [ - config("2d", "2d"), - config("2d", "2d-deterministic"), - config("2d", "2d-simd"), - config("3d", "3d"), - config("3d", "3d-deterministic"), - config("3d", "3d-simd"), -]; diff --git a/rapier-compat/src2d/init.ts b/rapier-compat/src2d/init.ts deleted file mode 100644 index 668bfe13..00000000 --- a/rapier-compat/src2d/init.ts +++ /dev/null @@ -1,12 +0,0 @@ -// @ts-ignore -import wasmBase64 from "../pkg/rapier_wasm2d_bg.wasm"; -import wasmInit from "../pkg/rapier_wasm2d"; -import base64 from "base64-js"; - -/** - * Initializes RAPIER. - * Has to be called and awaited before using any library methods. - */ -export async function init() { - await wasmInit(base64.toByteArray(wasmBase64 as unknown as string).buffer); -} diff --git a/rapier-compat/src2d/raw.ts b/rapier-compat/src2d/raw.ts deleted file mode 100644 index 4eadaffa..00000000 --- a/rapier-compat/src2d/raw.ts +++ /dev/null @@ -1 +0,0 @@ -export * from "../pkg/rapier_wasm2d"; diff --git a/rapier-compat/src3d/init.ts b/rapier-compat/src3d/init.ts deleted file mode 100644 index 15b14ada..00000000 --- a/rapier-compat/src3d/init.ts +++ /dev/null @@ -1,12 +0,0 @@ -// @ts-ignore -import wasmBase64 from "../pkg/rapier_wasm3d_bg.wasm"; -import wasmInit from "../pkg/rapier_wasm3d"; -import base64 from "base64-js"; - -/** - * Initializes RAPIER. - * Has to be called and awaited before using any library methods. - */ -export async function init() { - await wasmInit(base64.toByteArray(wasmBase64 as unknown as string).buffer); -} diff --git a/rapier-compat/src3d/raw.ts b/rapier-compat/src3d/raw.ts deleted file mode 100644 index b123ae6b..00000000 --- a/rapier-compat/src3d/raw.ts +++ /dev/null @@ -1 +0,0 @@ -export * from "../pkg/rapier_wasm3d"; diff --git a/rapier-compat/tests/World2d.test.ts b/rapier-compat/tests/World2d.test.ts deleted file mode 100644 index 45a3bb72..00000000 --- a/rapier-compat/tests/World2d.test.ts +++ /dev/null @@ -1,23 +0,0 @@ -import {init, Vector2, World} from "../builds/2d-deterministic/pkg"; - -describe("2d/World", () => { - let world: World; - - beforeAll(init); - - afterAll(async () => { - await Promise.resolve(); - }); - - beforeEach(() => { - world = new World(new Vector2(0, 9.8)); - }); - - afterEach(() => { - world.free(); - }); - - test("constructor", () => { - expect(world.colliders.len()).toBe(0); - }); -}); diff --git a/rapier-compat/tests/World3d.test.ts b/rapier-compat/tests/World3d.test.ts deleted file mode 100644 index e0ddd546..00000000 --- a/rapier-compat/tests/World3d.test.ts +++ /dev/null @@ -1,23 +0,0 @@ -import {init, Vector3, World} from "../builds/3d-deterministic/pkg"; - -describe("3d/World", () => { - let world: World; - - beforeAll(init); - - afterAll(async () => { - await Promise.resolve(); - }); - - beforeEach(() => { - world = new World(new Vector3(0, 9.8, 0)); - }); - - afterEach(() => { - world.free(); - }); - - test("constructor", () => { - expect(world.colliders.len()).toBe(0); - }); -}); diff --git a/rapier-compat/tests/math2d.test.ts b/rapier-compat/tests/math2d.test.ts deleted file mode 100644 index a7560565..00000000 --- a/rapier-compat/tests/math2d.test.ts +++ /dev/null @@ -1,15 +0,0 @@ -import {Vector2, VectorOps} from "../builds/2d-deterministic/pkg"; - -describe("2d/math", () => { - test("Vector2", () => { - const v = new Vector2(0, 1); - expect(v.x).toBe(0); - expect(v.y).toBe(1); - }); - - test("VectorOps", () => { - const v = VectorOps.new(0, 1); - expect(v.x).toBe(0); - expect(v.y).toBe(1); - }); -}); diff --git a/rapier-compat/tests/math3d.test.ts b/rapier-compat/tests/math3d.test.ts deleted file mode 100644 index 2ff194cc..00000000 --- a/rapier-compat/tests/math3d.test.ts +++ /dev/null @@ -1,17 +0,0 @@ -import {Vector3, VectorOps} from "../builds/3d-deterministic/pkg"; - -describe("3d/math", () => { - test("Vector3", () => { - const v = new Vector3(0, 1, 2); - expect(v.x).toBe(0); - expect(v.y).toBe(1); - expect(v.z).toBe(2); - }); - - test("VectorOps", () => { - const v = VectorOps.new(0, 1, 2); - expect(v.x).toBe(0); - expect(v.y).toBe(1); - expect(v.z).toBe(2); - }); -}); diff --git a/rapier-compat/tsconfig.common.json b/rapier-compat/tsconfig.common.json deleted file mode 100644 index 37bd7d7f..00000000 --- a/rapier-compat/tsconfig.common.json +++ /dev/null @@ -1,15 +0,0 @@ -{ - "compilerOptions": { - "module": "ES6", - "target": "es6", - "noEmitOnError": true, - "noImplicitAny": true, - "noImplicitThis": true, - "strictFunctionTypes": true, - "lib": ["es6", "DOM"], - "moduleResolution": "node", - "esModuleInterop": true, - "sourceMap": true, - "declaration": true - } -} diff --git a/rapier-compat/tsconfig.json b/rapier-compat/tsconfig.json deleted file mode 100644 index beeca944..00000000 --- a/rapier-compat/tsconfig.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "extends": "./tsconfig.common.json", - "compilerOptions": { - "lib": ["es6", "DOM"], - "esModuleInterop": true, - "types": ["jest"], - "outDir": "./dist" - }, - "include": ["./tests/**/*.test.ts"] -} diff --git a/rapier-compat/tsconfig.pkg2d.json b/rapier-compat/tsconfig.pkg2d.json deleted file mode 100644 index 77349ed2..00000000 --- a/rapier-compat/tsconfig.pkg2d.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "extends": "./tsconfig.common.json", - "compilerOptions": { - "rootDir": "./gen2d", - "outDir": "./2d" - }, - "files": ["./gen2d/rapier.ts"] -} diff --git a/rapier-compat/tsconfig.pkg3d.json b/rapier-compat/tsconfig.pkg3d.json deleted file mode 100644 index 3d7323e8..00000000 --- a/rapier-compat/tsconfig.pkg3d.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "extends": "./tsconfig.common.json", - "compilerOptions": { - "rootDir": "./gen3d", - "outDir": "." - }, - "files": ["./gen3d/rapier.ts"] -} diff --git a/src.ts/geometry/feature.ts b/src.ts/geometry/feature.ts deleted file mode 100644 index bec9560d..00000000 --- a/src.ts/geometry/feature.ts +++ /dev/null @@ -1,16 +0,0 @@ -// #if DIM2 -export enum FeatureType { - Vertex, - Face, - Unknown, -} -// #endif - -// #if DIM3 -export enum FeatureType { - Vertex, - Edge, - Face, - Unknown, -} -// #endif diff --git a/src.ts/init.ts b/src.ts/init.ts deleted file mode 100644 index e9e66aad..00000000 --- a/src.ts/init.ts +++ /dev/null @@ -1,2 +0,0 @@ -// Placeholder for the `init` function used in rapier-compat. -export {}; diff --git a/src.ts/raw.ts b/src.ts/raw.ts deleted file mode 100644 index 51f837b7..00000000 --- a/src.ts/raw.ts +++ /dev/null @@ -1 +0,0 @@ -export * from "../rapier3d/pkg/rapier_wasm3d"; diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs index 03cbdc5d..b2a7ba33 100644 --- a/src/control/character_controller.rs +++ b/src/control/character_controller.rs @@ -2,13 +2,12 @@ use crate::dynamics::RawRigidBodySet; use crate::geometry::{RawBroadPhase, RawColliderSet, RawNarrowPhase}; use crate::math::RawVector; use crate::utils::{self, FlatHandle}; -use na::{Isometry, Unit}; use rapier::control::{ CharacterAutostep, CharacterCollision, CharacterLength, EffectiveCharacterMovement, KinematicCharacterController, }; use rapier::geometry::{ColliderHandle, ShapeCastHit}; -use rapier::math::{Point, Real, Vector}; +use rapier::math::{Pose, Real, Vector}; use rapier::parry::query::ShapeCastStatus; use rapier::pipeline::{QueryFilter, QueryFilterFlags}; use wasm_bindgen::prelude::*; @@ -40,7 +39,7 @@ impl RawKinematicCharacterController { Self { controller, result: EffectiveCharacterMovement { - translation: Vector::zeros(), + translation: Vector::ZERO, grounded: false, is_sliding_down_slope: false, }, @@ -49,11 +48,11 @@ impl RawKinematicCharacterController { } pub fn up(&self) -> RawVector { - self.controller.up.into_inner().into() + self.controller.up.into() } pub fn setUp(&mut self, vector: &RawVector) { - self.controller.up = Unit::new_normalize(vector.0); + self.controller.up = vector.0.normalize(); } pub fn normalNudgeFactor(&self) -> Real { @@ -208,7 +207,7 @@ impl RawKinematicCharacterController { } }); } else { - self.result.translation.fill(0.0); + self.result.translation = Vector::ZERO; } } @@ -242,15 +241,15 @@ impl RawCharacterCollision { pub fn new() -> Self { Self(CharacterCollision { handle: ColliderHandle::invalid(), - character_pos: Isometry::identity(), - translation_applied: Vector::zeros(), - translation_remaining: Vector::zeros(), + character_pos: Pose::IDENTITY, + translation_applied: Vector::ZERO, + translation_remaining: Vector::ZERO, hit: ShapeCastHit { time_of_impact: 0.0, - witness1: Point::origin(), - witness2: Point::origin(), - normal1: Vector::y_axis(), - normal2: Vector::y_axis(), + witness1: Vector::ZERO, + witness2: Vector::ZERO, + normal1: Vector::Y, + normal2: Vector::Y, status: ShapeCastStatus::Failed, }, }) @@ -273,18 +272,18 @@ impl RawCharacterCollision { } pub fn worldWitness1(&self) -> RawVector { - self.0.hit.witness1.coords.into() // Already in world-space. + self.0.hit.witness1.into() // Already in world-space. } pub fn worldWitness2(&self) -> RawVector { - (self.0.character_pos * self.0.hit.witness2).coords.into() + (self.0.character_pos * self.0.hit.witness2).into() } pub fn worldNormal1(&self) -> RawVector { - self.0.hit.normal1.into_inner().into() // Already in world-space. + self.0.hit.normal1.into() // Already in world-space. } pub fn worldNormal2(&self) -> RawVector { - (self.0.character_pos * self.0.hit.normal2.into_inner()).into() + (self.0.character_pos.rotation * self.0.hit.normal2).into() } } diff --git a/src/control/pid_controller.rs b/src/control/pid_controller.rs index 890e3391..67f8e45b 100644 --- a/src/control/pid_controller.rs +++ b/src/control/pid_controller.rs @@ -154,7 +154,7 @@ impl RawPidController { target_translation.0.into(), target_linvel.0, ); - rb.set_linvel(*rb.linvel() + correction, true); + rb.set_linvel(rb.linvel() + correction, true); } #[cfg(feature = "dim2")] @@ -213,7 +213,7 @@ impl RawPidController { ) -> RawVector { let rb_handle = crate::utils::body_handle(rb_handle); let Some(rb) = bodies.0.get(rb_handle) else { - return RawVector(Vector::zeros()); + return RawVector(Vector::ZERO); }; self.controller @@ -254,7 +254,7 @@ impl RawPidController { ) -> RawVector { let rb_handle = crate::utils::body_handle(rb_handle); let Some(rb) = bodies.0.get(rb_handle) else { - return RawVector(Vector::zeros()); + return RawVector(Vector::ZERO); }; self.controller diff --git a/src/dynamics/impulse_joint.rs b/src/dynamics/impulse_joint.rs index bfbdf128..6ec7bc42 100644 --- a/src/dynamics/impulse_joint.rs +++ b/src/dynamics/impulse_joint.rs @@ -36,7 +36,7 @@ impl RawImpulseJointSet { /// The first anchor gives the position of the points application point on the /// local frame of the first rigid-body it is attached to. pub fn jointAnchor1(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |j| j.data.local_frame1.translation.vector.into()) + self.map(handle, |j| j.data.local_frame1.translation.into()) } /// The position of the second anchor of this joint. @@ -44,7 +44,7 @@ impl RawImpulseJointSet { /// The second anchor gives the position of the points application point on the /// local frame of the second rigid-body it is attached to. pub fn jointAnchor2(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |j| j.data.local_frame2.translation.vector.into()) + self.map(handle, |j| j.data.local_frame2.translation.into()) } /// Sets the position of the first local anchor diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index b273e057..6aac0b51 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -18,7 +18,7 @@ impl RawIntegrationParameters { #[wasm_bindgen(getter)] pub fn contact_erp(&self) -> f32 { - self.0.contact_erp() + self.0.contact_softness.erp(self.0.dt) } #[wasm_bindgen(getter)] @@ -63,7 +63,7 @@ impl RawIntegrationParameters { #[wasm_bindgen(setter)] pub fn set_contact_natural_frequency(&mut self, value: f32) { - self.0.contact_natural_frequency = value + self.0.contact_softness.natural_frequency = value } #[wasm_bindgen(setter)] diff --git a/src/dynamics/joint.rs b/src/dynamics/joint.rs index 74ab2b3d..05da350d 100644 --- a/src/dynamics/joint.rs +++ b/src/dynamics/joint.rs @@ -1,12 +1,11 @@ use crate::math::{RawRotation, RawVector}; -use na::Unit; use rapier::dynamics::{ FixedJointBuilder, GenericJoint, JointAxesMask, JointAxis, MotorModel, PrismaticJointBuilder, RevoluteJointBuilder, RopeJointBuilder, SpringJointBuilder, }; #[cfg(feature = "dim3")] use rapier::dynamics::{GenericJointBuilder, SphericalJointBuilder}; -use rapier::math::Isometry; +use rapier::math::Pose; use wasm_bindgen::prelude::*; #[wasm_bindgen] @@ -157,7 +156,7 @@ impl RawGenericJoint { lockedAxes: u8, ) -> Option { let axesMask: JointAxesMask = JointAxesMask::from_bits(lockedAxes)?; - let axis = Unit::try_new(axis.0, 0.0)?; + let axis = axis.0.try_normalize()?; let joint: GenericJoint = GenericJointBuilder::new(axesMask) .local_anchor1(anchor1.0.into()) .local_anchor2(anchor2.0.into()) @@ -221,7 +220,7 @@ impl RawGenericJoint { limitsMin: f32, limitsMax: f32, ) -> Option { - let axis = Unit::try_new(axis.0, 0.0)?; + let axis = axis.0.try_normalize()?; let mut joint = PrismaticJointBuilder::new(axis) .local_anchor1(anchor1.0.into()) .local_anchor2(anchor2.0.into()); @@ -248,7 +247,7 @@ impl RawGenericJoint { limitsMin: f32, limitsMax: f32, ) -> Option { - let axis = Unit::try_new(axis.0, 0.0)?; + let axis = axis.0.try_normalize()?; let mut joint = PrismaticJointBuilder::new(axis) .local_anchor1(anchor1.0.into()) .local_anchor2(anchor2.0.into()); @@ -269,8 +268,8 @@ impl RawGenericJoint { anchor2: &RawVector, axes2: &RawRotation, ) -> RawGenericJoint { - let pos1 = Isometry::from_parts(anchor1.0.into(), axes1.0); - let pos2 = Isometry::from_parts(anchor2.0.into(), axes2.0); + let pos1 = Pose::from_parts(anchor1.0, axes1.0); + let pos2 = Pose::from_parts(anchor2.0, axes2.0); Self( FixedJointBuilder::new() .local_frame1(pos1) @@ -303,7 +302,7 @@ impl RawGenericJoint { anchor2: &RawVector, axis: &RawVector, ) -> Option { - let axis = Unit::try_new(axis.0, 0.0)?; + let axis = axis.0.try_normalize()?; Some(Self( RevoluteJointBuilder::new(axis) .local_anchor1(anchor1.0.into()) diff --git a/src/dynamics/multibody_joint.rs b/src/dynamics/multibody_joint.rs index ff6e816e..9a95f0d5 100644 --- a/src/dynamics/multibody_joint.rs +++ b/src/dynamics/multibody_joint.rs @@ -36,7 +36,7 @@ impl RawMultibodyJointSet { /// The first anchor gives the position of the points application point on the /// local frame of the first rigid-body it is attached to. pub fn jointAnchor1(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |j| j.data.local_frame1.translation.vector.into()) + self.map(handle, |j| j.data.local_frame1.translation.into()) } /// The position of the second anchor of this joint. @@ -44,7 +44,7 @@ impl RawMultibodyJointSet { /// The second anchor gives the position of the points application point on the /// local frame of the second rigid-body it is attached to. pub fn jointAnchor2(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |j| j.data.local_frame2.translation.vector.into()) + self.map(handle, |j| j.data.local_frame2.translation.into()) } /// Are contacts between the rigid-bodies attached by this joint enabled? diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index d7174d77..bb2cfb29 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -1,23 +1,55 @@ use crate::dynamics::{RawRigidBodySet, RawRigidBodyType}; use crate::geometry::RawColliderSet; #[cfg(feature = "dim3")] -use crate::math::RawSdpMatrix3; -use crate::math::{RawRotation, RawVector}; +use crate::math::{RawRotation, RawSdpMatrix3}; +use crate::math::RawVector; use crate::utils::{self, FlatHandle}; -use na::Point; +use js_sys::Float32Array; use rapier::dynamics::MassProperties; +use rapier::math::{Rotation, Vector}; use wasm_bindgen::prelude::*; #[wasm_bindgen] impl RawRigidBodySet { - /// The world-space translation of this rigid-body. - pub fn rbTranslation(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |rb| RawVector(rb.position().translation.vector)) + /// The world-space translation of this rigid-body, written to a buffer. + #[cfg(feature = "dim2")] + pub fn rbTranslation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let t = rb.position().translation; + buffer.set_index(0, t.x); + buffer.set_index(1, t.y); + }); + } + + /// The world-space translation of this rigid-body, written to a buffer. + #[cfg(feature = "dim3")] + pub fn rbTranslation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let t = rb.position().translation; + buffer.set_index(0, t.x); + buffer.set_index(1, t.y); + buffer.set_index(2, t.z); + }); + } + + /// The world-space orientation of this rigid-body, written to a buffer. + #[cfg(feature = "dim2")] + pub fn rbRotation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + buffer.set_index(0, rb.position().rotation.angle()); + }); } - /// The world-space orientation of this rigid-body. - pub fn rbRotation(&self, handle: FlatHandle) -> RawRotation { - self.map(handle, |rb| RawRotation(rb.position().rotation)) + /// The world-space orientation of this rigid-body, written to a buffer. + #[cfg(feature = "dim3")] + pub fn rbRotation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let r = rb.position().rotation; + buffer.set_index(0, r.x); + buffer.set_index(1, r.y); + buffer.set_index(2, r.z); + buffer.set_index(3, r.w); + }); } /// Put the given rigid-body to sleep. @@ -35,24 +67,61 @@ impl RawRigidBodySet { self.map(handle, |rb| rb.is_moving()) } - /// The world-space predicted translation of this rigid-body. + /// The world-space next translation of this rigid-body, written to a buffer. /// /// If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation` /// method and is used for estimating the kinematic body velocity at the next timestep. /// For non-kinematic bodies, this value is currently unspecified. - pub fn rbNextTranslation(&self, handle: FlatHandle) -> RawVector { + #[cfg(feature = "dim2")] + pub fn rbNextTranslation(&self, handle: FlatHandle, buffer: &Float32Array) { self.map(handle, |rb| { - RawVector(rb.next_position().translation.vector) - }) + let t = rb.next_position().translation; + buffer.set_index(0, t.x); + buffer.set_index(1, t.y); + }); } - /// The world-space predicted orientation of this rigid-body. + /// The world-space next translation of this rigid-body, written to a buffer. + /// + /// If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation` + /// method and is used for estimating the kinematic body velocity at the next timestep. + /// For non-kinematic bodies, this value is currently unspecified. + #[cfg(feature = "dim3")] + pub fn rbNextTranslation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let t = rb.next_position().translation; + buffer.set_index(0, t.x); + buffer.set_index(1, t.y); + buffer.set_index(2, t.z); + }); + } + + /// The world-space next orientation of this rigid-body, written to a buffer. /// /// If this rigid-body is kinematic this value is set by the `setNextKinematicRotation` /// method and is used for estimating the kinematic body velocity at the next timestep. /// For non-kinematic bodies, this value is currently unspecified. - pub fn rbNextRotation(&self, handle: FlatHandle) -> RawRotation { - self.map(handle, |rb| RawRotation(rb.next_position().rotation)) + #[cfg(feature = "dim2")] + pub fn rbNextRotation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + buffer.set_index(0, rb.next_position().rotation.angle()); + }); + } + + /// The world-space next orientation of this rigid-body, written to a buffer. + /// + /// If this rigid-body is kinematic this value is set by the `setNextKinematicRotation` + /// method and is used for estimating the kinematic body velocity at the next timestep. + /// For non-kinematic bodies, this value is currently unspecified. + #[cfg(feature = "dim3")] + pub fn rbNextRotation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let r = rb.next_position().rotation; + buffer.set_index(0, r.x); + buffer.set_index(1, r.y); + buffer.set_index(2, r.z); + buffer.set_index(3, r.w); + }); } /// Sets the translation of this rigid-body. @@ -66,7 +135,7 @@ impl RawRigidBodySet { #[cfg(feature = "dim3")] pub fn rbSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32, wakeUp: bool) { self.map_mut(handle, |rb| { - rb.set_translation(na::Vector3::new(x, y, z), wakeUp); + rb.set_translation(Vector::new(x, y, z), wakeUp); }) } @@ -80,7 +149,7 @@ impl RawRigidBodySet { #[cfg(feature = "dim2")] pub fn rbSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, wakeUp: bool) { self.map_mut(handle, |rb| { - rb.set_translation(na::Vector2::new(x, y), wakeUp); + rb.set_translation(Vector::new(x, y), wakeUp); }) } @@ -105,7 +174,8 @@ impl RawRigidBodySet { w: f32, wakeUp: bool, ) { - if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) { + let q = Rotation::from_xyzw(x, y, z, w); + if q.is_normalized() { self.map_mut(handle, |rb| rb.set_rotation(q, wakeUp)) } } @@ -119,7 +189,7 @@ impl RawRigidBodySet { #[cfg(feature = "dim2")] pub fn rbSetRotation(&mut self, handle: FlatHandle, angle: f32, wakeUp: bool) { self.map_mut(handle, |rb| { - rb.set_rotation(na::UnitComplex::new(angle), wakeUp) + rb.set_rotation(Rotation::new(angle), wakeUp) }) } @@ -161,7 +231,7 @@ impl RawRigidBodySet { #[cfg(feature = "dim3")] pub fn rbSetNextKinematicTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32) { self.map_mut(handle, |rb| { - rb.set_next_kinematic_translation(na::Vector3::new(x, y, z)); + rb.set_next_kinematic_translation(Vector::new(x, y, z)); }) } @@ -179,7 +249,7 @@ impl RawRigidBodySet { #[cfg(feature = "dim2")] pub fn rbSetNextKinematicTranslation(&mut self, handle: FlatHandle, x: f32, y: f32) { self.map_mut(handle, |rb| { - rb.set_next_kinematic_translation(na::Vector2::new(x, y)); + rb.set_next_kinematic_translation(Vector::new(x, y)); }) } @@ -205,7 +275,8 @@ impl RawRigidBodySet { z: f32, w: f32, ) { - if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) { + let q = Rotation::from_xyzw(x, y, z, w); + if q.is_normalized() { self.map_mut(handle, |rb| { rb.set_next_kinematic_rotation(q); }) @@ -225,7 +296,7 @@ impl RawRigidBodySet { #[cfg(feature = "dim2")] pub fn rbSetNextKinematicRotation(&mut self, handle: FlatHandle, angle: f32) { self.map_mut(handle, |rb| { - rb.set_next_kinematic_rotation(na::UnitComplex::new(angle)); + rb.set_next_kinematic_rotation(Rotation::new(angle)); }) } @@ -281,9 +352,25 @@ impl RawRigidBodySet { }) } - /// The linear velocity of this rigid-body. - pub fn rbLinvel(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |rb| RawVector(*rb.linvel())) + /// The linear velocity of this rigid-body, written to a buffer. + #[cfg(feature = "dim2")] + pub fn rbLinvel(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let v = rb.linvel(); + buffer.set_index(0, v.x); + buffer.set_index(1, v.y); + }); + } + + /// The linear velocity of this rigid-body, written to a buffer. + #[cfg(feature = "dim3")] + pub fn rbLinvel(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let v = rb.linvel(); + buffer.set_index(0, v.x); + buffer.set_index(1, v.y); + buffer.set_index(2, v.z); + }); } /// The angular velocity of this rigid-body. @@ -292,17 +379,20 @@ impl RawRigidBodySet { self.map(handle, |rb| rb.angvel()) } - /// The angular velocity of this rigid-body. + /// The angular velocity of this rigid-body, written to a buffer. #[cfg(feature = "dim3")] - pub fn rbAngvel(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |rb| RawVector(*rb.angvel())) + pub fn rbAngvel(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let v = rb.angvel(); + buffer.set_index(0, v.x); + buffer.set_index(1, v.y); + buffer.set_index(2, v.z); + }); } /// The velocity of the given world-space point on this rigid-body. pub fn rbVelocityAtPoint(&self, handle: FlatHandle, point: &RawVector) -> RawVector { - self.map(handle, |rb| { - rb.velocity_at_point(&Point::from(point.0)).into() - }) + self.map(handle, |rb| rb.velocity_at_point(point.0).into()) } pub fn rbLockTranslations(&mut self, handle: FlatHandle, locked: bool, wake_up: bool) { @@ -387,16 +477,46 @@ impl RawRigidBodySet { self.map(handle, |rb| rb.mass_properties().effective_inv_mass.into()) } - /// The center of mass of a rigid-body expressed in its local-space. - pub fn rbLocalCom(&self, handle: FlatHandle) -> RawVector { + /// The center of mass of a rigid-body expressed in its local-space, written to a buffer. + #[cfg(feature = "dim2")] + pub fn rbLocalCom(&self, handle: FlatHandle, buffer: &Float32Array) { self.map(handle, |rb| { - rb.mass_properties().local_mprops.local_com.into() - }) + let c = rb.mass_properties().local_mprops.local_com; + buffer.set_index(0, c.x); + buffer.set_index(1, c.y); + }); + } + + /// The center of mass of a rigid-body expressed in its local-space, written to a buffer. + #[cfg(feature = "dim3")] + pub fn rbLocalCom(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let c = rb.mass_properties().local_mprops.local_com; + buffer.set_index(0, c.x); + buffer.set_index(1, c.y); + buffer.set_index(2, c.z); + }); } - /// The world-space center of mass of the rigid-body. - pub fn rbWorldCom(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |rb| rb.mass_properties().world_com.into()) + /// The world-space center of mass of the rigid-body, written to a buffer. + #[cfg(feature = "dim2")] + pub fn rbWorldCom(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let c = rb.mass_properties().world_com; + buffer.set_index(0, c.x); + buffer.set_index(1, c.y); + }); + } + + /// The world-space center of mass of the rigid-body, written to a buffer. + #[cfg(feature = "dim3")] + pub fn rbWorldCom(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |rb| { + let c = rb.mass_properties().world_com; + buffer.set_index(0, c.x); + buffer.set_index(1, c.y); + buffer.set_index(2, c.z); + }); } /// The inverse of the principal angular inertia of the rigid-body. diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs index 83b963e3..d8fb74c3 100644 --- a/src/dynamics/rigid_body_set.rs +++ b/src/dynamics/rigid_body_set.rs @@ -3,6 +3,7 @@ use crate::geometry::RawColliderSet; use crate::math::{RawRotation, RawVector}; use crate::utils::{self, FlatHandle}; use rapier::dynamics::{MassProperties, RigidBody, RigidBodyBuilder, RigidBodySet, RigidBodyType}; +use rapier::math::Pose; use wasm_bindgen::prelude::*; #[wasm_bindgen] @@ -95,7 +96,7 @@ impl RawRigidBodySet { dominanceGroup: i8, additional_solver_iterations: usize, ) -> FlatHandle { - let pos = na::Isometry3::from_parts(translation.0.into(), rotation.0); + let pos = Pose::from_parts(translation.0, rotation.0); let mut rigid_body = RigidBodyBuilder::new(rb_type.into()) .enabled(enabled) @@ -159,7 +160,7 @@ impl RawRigidBodySet { dominanceGroup: i8, additional_solver_iterations: usize, ) -> FlatHandle { - let pos = na::Isometry2::from_parts(translation.0.into(), rotation.0); + let pos = Pose::from_parts(translation.0, rotation.0); let mut rigid_body = RigidBodyBuilder::new(rb_type.into()) .enabled(enabled) .pose(pos) diff --git a/src/geometry/broad_phase.rs b/src/geometry/broad_phase.rs index 6f81a862..7eaf9f3f 100644 --- a/src/geometry/broad_phase.rs +++ b/src/geometry/broad_phase.rs @@ -7,7 +7,7 @@ use crate::math::{RawRotation, RawVector}; use crate::utils::{self, FlatHandle}; use rapier::geometry::DefaultBroadPhase; use rapier::geometry::{Aabb, ColliderHandle, Ray}; -use rapier::math::{Isometry, Point}; +use rapier::math::Pose; use rapier::parry::query::ShapeCastOptions; use rapier::pipeline::{QueryFilter, QueryFilterFlags}; use rapier::prelude::FeatureId; @@ -23,13 +23,17 @@ impl RawBroadPhase { RawBroadPhase(DefaultBroadPhase::new()) } + #[cfg(feature = "dim2")] + #[allow(clippy::too_many_arguments)] pub fn castRay( &self, narrow_phase: &RawNarrowPhase, bodies: &RawRigidBodySet, colliders: &RawColliderSet, - rayOrig: &RawVector, - rayDir: &RawVector, + ray_ox: f32, + ray_oy: f32, + ray_dx: f32, + ray_dy: f32, maxToi: f32, solid: bool, filter_flags: u32, @@ -55,7 +59,7 @@ impl RawBroadPhase { query_filter, ); - let ray = Ray::new(rayOrig.0.into(), rayDir.0); + let ray = Ray::new([ray_ox, ray_oy].into(), [ray_dx, ray_dy].into()); query_pipeline.cast_ray(&ray, maxToi, solid) })?; @@ -65,13 +69,113 @@ impl RawBroadPhase { }) } + #[cfg(feature = "dim3")] + #[allow(clippy::too_many_arguments)] + pub fn castRay( + &self, + narrow_phase: &RawNarrowPhase, + bodies: &RawRigidBodySet, + colliders: &RawColliderSet, + ray_ox: f32, + ray_oy: f32, + ray_oz: f32, + ray_dx: f32, + ray_dy: f32, + ray_dz: f32, + maxToi: f32, + solid: bool, + filter_flags: u32, + filter_groups: Option, + filter_exclude_collider: Option, + filter_exclude_rigid_body: Option, + filter_predicate: &js_sys::Function, + ) -> Option { + let (handle, timeOfImpact) = utils::with_filter(filter_predicate, |predicate| { + let query_filter = QueryFilter { + flags: QueryFilterFlags::from_bits(filter_flags) + .unwrap_or(QueryFilterFlags::empty()), + groups: filter_groups.map(crate::geometry::unpack_interaction_groups), + exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle), + exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle), + predicate, + }; + + let query_pipeline = self.0.as_query_pipeline( + narrow_phase.0.query_dispatcher(), + &bodies.0, + &colliders.0, + query_filter, + ); + + let ray = Ray::new( + [ray_ox, ray_oy, ray_oz].into(), + [ray_dx, ray_dy, ray_dz].into(), + ); + query_pipeline.cast_ray(&ray, maxToi, solid) + })?; + + Some(RawRayColliderHit { + handle, + timeOfImpact, + }) + } + + #[cfg(feature = "dim2")] + #[allow(clippy::too_many_arguments)] + pub fn castRayAndGetNormal( + &self, + narrow_phase: &RawNarrowPhase, + bodies: &RawRigidBodySet, + colliders: &RawColliderSet, + ray_ox: f32, + ray_oy: f32, + ray_dx: f32, + ray_dy: f32, + maxToi: f32, + solid: bool, + filter_flags: u32, + filter_groups: Option, + filter_exclude_collider: Option, + filter_exclude_rigid_body: Option, + filter_predicate: &js_sys::Function, + ) -> Option { + let (handle, inter) = utils::with_filter(filter_predicate, |predicate| { + let query_filter = QueryFilter { + flags: QueryFilterFlags::from_bits(filter_flags) + .unwrap_or(QueryFilterFlags::empty()), + groups: filter_groups.map(crate::geometry::unpack_interaction_groups), + exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle), + exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle), + predicate, + }; + + let query_pipeline = self.0.as_query_pipeline( + narrow_phase.0.query_dispatcher(), + &bodies.0, + &colliders.0, + query_filter, + ); + + let ray = Ray::new([ray_ox, ray_oy].into(), [ray_dx, ray_dy].into()); + query_pipeline.cast_ray_and_get_normal(&ray, maxToi, solid) + })?; + + Some(RawRayColliderIntersection { handle, inter }) + } + + #[cfg(feature = "dim3")] + #[allow(clippy::too_many_arguments)] pub fn castRayAndGetNormal( &self, narrow_phase: &RawNarrowPhase, bodies: &RawRigidBodySet, colliders: &RawColliderSet, - rayOrig: &RawVector, - rayDir: &RawVector, + ray_ox: f32, + ray_oy: f32, + ray_oz: f32, + ray_dx: f32, + ray_dy: f32, + ray_dz: f32, maxToi: f32, solid: bool, filter_flags: u32, @@ -97,7 +201,10 @@ impl RawBroadPhase { query_filter, ); - let ray = Ray::new(rayOrig.0.into(), rayDir.0); + let ray = Ray::new( + [ray_ox, ray_oy, ray_oz].into(), + [ray_dx, ray_dy, ray_dz].into(), + ); query_pipeline.cast_ray_and_get_normal(&ray, maxToi, solid) })?; @@ -105,13 +212,17 @@ impl RawBroadPhase { } // The callback is of type (RawRayColliderIntersection) => bool + #[cfg(feature = "dim2")] + #[allow(clippy::too_many_arguments)] pub fn intersectionsWithRay( &self, narrow_phase: &RawNarrowPhase, bodies: &RawRigidBodySet, colliders: &RawColliderSet, - rayOrig: &RawVector, - rayDir: &RawVector, + ray_ox: f32, + ray_oy: f32, + ray_dx: f32, + ray_dy: f32, maxToi: f32, solid: bool, callback: &js_sys::Function, @@ -131,7 +242,67 @@ impl RawBroadPhase { predicate, }; - let ray = Ray::new(rayOrig.0.into(), rayDir.0); + let ray = Ray::new([ray_ox, ray_oy].into(), [ray_dx, ray_dy].into()); + let rcallback = |handle, inter| { + let result = RawRayColliderIntersection { handle, inter }; + match callback.call1(&JsValue::null(), &JsValue::from(result)) { + Err(_) => true, + Ok(val) => val.as_bool().unwrap_or(true), + } + }; + + let query_pipeline = self.0.as_query_pipeline( + narrow_phase.0.query_dispatcher(), + &bodies.0, + &colliders.0, + query_filter, + ); + + for (handle, _, inter) in query_pipeline.intersect_ray(ray, maxToi, solid) { + if !rcallback(handle, inter) { + break; + } + } + }); + } + + // The callback is of type (RawRayColliderIntersection) => bool + #[cfg(feature = "dim3")] + #[allow(clippy::too_many_arguments)] + pub fn intersectionsWithRay( + &self, + narrow_phase: &RawNarrowPhase, + bodies: &RawRigidBodySet, + colliders: &RawColliderSet, + ray_ox: f32, + ray_oy: f32, + ray_oz: f32, + ray_dx: f32, + ray_dy: f32, + ray_dz: f32, + maxToi: f32, + solid: bool, + callback: &js_sys::Function, + filter_flags: u32, + filter_groups: Option, + filter_exclude_collider: Option, + filter_exclude_rigid_body: Option, + filter_predicate: &js_sys::Function, + ) { + utils::with_filter(filter_predicate, |predicate| { + let query_filter = QueryFilter { + flags: QueryFilterFlags::from_bits(filter_flags) + .unwrap_or(QueryFilterFlags::empty()), + groups: filter_groups.map(crate::geometry::unpack_interaction_groups), + exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle), + exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle), + predicate, + }; + + let ray = Ray::new( + [ray_ox, ray_oy, ray_oz].into(), + [ray_dx, ray_dy, ray_dz].into(), + ); let rcallback = |handle, inter| { let result = RawRayColliderIntersection { handle, inter }; match callback.call1(&JsValue::null(), &JsValue::from(result)) { @@ -186,7 +357,7 @@ impl RawBroadPhase { query_filter, ); - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); // TODO: take a callback as argument so we can yield all the intersecting shapes? for (handle, _) in query_pipeline.intersect_shape(pos, &*shape.0) { @@ -229,7 +400,7 @@ impl RawBroadPhase { ); query_pipeline - .project_point(&point.0.into(), f32::MAX, solid) + .project_point(point.0, f32::MAX, solid) .map(|(handle, proj)| RawPointColliderProjection { handle, proj, @@ -268,7 +439,7 @@ impl RawBroadPhase { ); query_pipeline - .project_point_and_get_feature(&point.0.into()) + .project_point_and_get_feature(point.0) .map(|(handle, proj, feature)| RawPointColliderProjection { handle, proj, @@ -359,11 +530,11 @@ impl RawBroadPhase { query_filter, ); - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); query_pipeline .cast_shape( &pos, - &shapeVel.0, + shapeVel.0, &*shape.0, ShapeCastOptions { max_time_of_impact: maxToi, @@ -417,7 +588,7 @@ impl RawBroadPhase { Ok(val) => val.as_bool().unwrap_or(true), }; - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); for (handle, _) in query_pipeline.intersect_shape(pos, &*shape.0) { if !rcallback(handle) { break; @@ -450,7 +621,7 @@ impl RawBroadPhase { Default::default(), ); - let center = Point::from(aabbCenter.0); + let center = aabbCenter.0; let aabb = Aabb::new(center - aabbHalfExtents.0, center + aabbHalfExtents.0); for (handle, _) in query_pipeline.intersect_aabb_conservative(aabb) { diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index e8019044..f3ac61f2 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -5,9 +5,10 @@ use crate::geometry::{ }; use crate::math::{RawRotation, RawVector}; use crate::utils::{self, FlatHandle}; +use js_sys::Float32Array; use rapier::dynamics::MassProperties; use rapier::geometry::{ActiveCollisionTypes, ShapeType}; -use rapier::math::{Isometry, Point, Real, Vector}; +use rapier::math::{IVector, Pose, Real, Rotation, Vector}; use rapier::parry::query; use rapier::parry::query::ShapeCastOptions; use rapier::pipeline::{ActiveEvents, ActiveHooks}; @@ -15,32 +16,106 @@ use wasm_bindgen::prelude::*; #[wasm_bindgen] impl RawColliderSet { - /// The world-space translation of this collider. - pub fn coTranslation(&self, handle: FlatHandle) -> RawVector { - self.map(handle, |co| co.position().translation.vector.into()) + /// The world-space translation of this collider, written to a buffer. + #[cfg(feature = "dim2")] + pub fn coTranslation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |co| { + let t = co.position().translation; + buffer.set_index(0, t.x); + buffer.set_index(1, t.y); + }); + } + + /// The world-space translation of this collider, written to a buffer. + #[cfg(feature = "dim3")] + pub fn coTranslation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |co| { + let t = co.position().translation; + buffer.set_index(0, t.x); + buffer.set_index(1, t.y); + buffer.set_index(2, t.z); + }); } - /// The world-space orientation of this collider. - pub fn coRotation(&self, handle: FlatHandle) -> RawRotation { - self.map(handle, |co| co.position().rotation.into()) + /// The world-space orientation of this collider, written to a buffer. + #[cfg(feature = "dim2")] + pub fn coRotation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |co| { + buffer.set_index(0, co.position().rotation.angle()); + }); } - /// The translation of this collider relative to its parent rigid-body. - /// - /// Returns the `None` if it doesn’t have a parent. - pub fn coTranslationWrtParent(&self, handle: FlatHandle) -> Option { + /// The world-space orientation of this collider, written to a buffer. + #[cfg(feature = "dim3")] + pub fn coRotation(&self, handle: FlatHandle, buffer: &Float32Array) { + self.map(handle, |co| { + let r = co.position().rotation; + buffer.set_index(0, r.x); + buffer.set_index(1, r.y); + buffer.set_index(2, r.z); + buffer.set_index(3, r.w); + }); + } + + /// The translation of this collider relative to its parent rigid-body, written to a buffer. + /// Returns false if it doesn't have a parent. + #[cfg(feature = "dim2")] + pub fn coTranslationWrtParent(&self, handle: FlatHandle, buffer: &Float32Array) -> bool { self.map(handle, |co| { - co.position_wrt_parent() - .map(|pose| pose.translation.vector.into()) + if let Some(pose) = co.position_wrt_parent() { + buffer.set_index(0, pose.translation.x); + buffer.set_index(1, pose.translation.y); + true + } else { + false + } }) } - /// The orientation of this collider relative to its parent rigid-body. - /// - /// Returns the `None` if it doesn’t have a parent. - pub fn coRotationWrtParent(&self, handle: FlatHandle) -> Option { + /// The translation of this collider relative to its parent rigid-body, written to a buffer. + /// Returns false if it doesn't have a parent. + #[cfg(feature = "dim3")] + pub fn coTranslationWrtParent(&self, handle: FlatHandle, buffer: &Float32Array) -> bool { + self.map(handle, |co| { + if let Some(pose) = co.position_wrt_parent() { + buffer.set_index(0, pose.translation.x); + buffer.set_index(1, pose.translation.y); + buffer.set_index(2, pose.translation.z); + true + } else { + false + } + }) + } + + /// The orientation of this collider relative to its parent rigid-body, written to a buffer. + /// Returns false if it doesn't have a parent. + #[cfg(feature = "dim2")] + pub fn coRotationWrtParent(&self, handle: FlatHandle, buffer: &Float32Array) -> bool { + self.map(handle, |co| { + if let Some(pose) = co.position_wrt_parent() { + buffer.set_index(0, pose.rotation.angle()); + true + } else { + false + } + }) + } + + /// The orientation of this collider relative to its parent rigid-body, written to a buffer. + /// Returns false if it doesn't have a parent. + #[cfg(feature = "dim3")] + pub fn coRotationWrtParent(&self, handle: FlatHandle, buffer: &Float32Array) -> bool { self.map(handle, |co| { - co.position_wrt_parent().map(|pose| pose.rotation.into()) + if let Some(pose) = co.position_wrt_parent() { + buffer.set_index(0, pose.rotation.x); + buffer.set_index(1, pose.rotation.y); + buffer.set_index(2, pose.rotation.z); + buffer.set_index(3, pose.rotation.w); + true + } else { + false + } }) } @@ -55,7 +130,7 @@ impl RawColliderSet { #[cfg(feature = "dim3")] pub fn coSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32) { self.map_mut(handle, |co| { - co.set_translation(na::Vector3::new(x, y, z)); + co.set_translation(Vector::new(x, y, z)); }) } @@ -69,21 +144,21 @@ impl RawColliderSet { #[cfg(feature = "dim2")] pub fn coSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32) { self.map_mut(handle, |co| { - co.set_translation(na::Vector2::new(x, y)); + co.set_translation(Vector::new(x, y)); }) } #[cfg(feature = "dim3")] pub fn coSetTranslationWrtParent(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32) { self.map_mut(handle, |co| { - co.set_translation_wrt_parent(na::Vector3::new(x, y, z)); + co.set_translation_wrt_parent(Vector::new(x, y, z)); }) } #[cfg(feature = "dim2")] pub fn coSetTranslationWrtParent(&mut self, handle: FlatHandle, x: f32, y: f32) { self.map_mut(handle, |co| { - co.set_translation_wrt_parent(na::Vector2::new(x, y)); + co.set_translation_wrt_parent(Vector::new(x, y)); }) } @@ -100,7 +175,8 @@ impl RawColliderSet { /// wasn't moving before modifying its position. #[cfg(feature = "dim3")] pub fn coSetRotation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32, w: f32) { - if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) { + let q = Rotation::from_xyzw(x, y, z, w); + if q.is_normalized() { self.map_mut(handle, |co| co.set_rotation(q)) } } @@ -113,13 +189,16 @@ impl RawColliderSet { /// wasn't moving before modifying its position. #[cfg(feature = "dim2")] pub fn coSetRotation(&mut self, handle: FlatHandle, angle: f32) { - self.map_mut(handle, |co| co.set_rotation(na::UnitComplex::new(angle))) + self.map_mut(handle, |co| co.set_rotation(Rotation::new(angle))) } #[cfg(feature = "dim3")] pub fn coSetRotationWrtParent(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32, w: f32) { - if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) { - self.map_mut(handle, |co| co.set_rotation_wrt_parent(q.scaled_axis())) + let q = Rotation::from_xyzw(x, y, z, w); + if q.is_normalized() { + // Extract the axis-angle representation for rotation_wrt_parent + let (axis, angle) = q.to_axis_angle(); + self.map_mut(handle, |co| co.set_rotation_wrt_parent(axis * angle)) } } @@ -173,7 +252,7 @@ impl RawColliderSet { self.map(handle, |co| { co.shape() .as_halfspace() - .map(|h| h.normal.into_inner().into()) + .map(|h| h.normal.into()) }) } @@ -268,7 +347,7 @@ impl RawColliderSet { pub fn coSetHalfHeight(&mut self, handle: FlatHandle, newHalfheight: Real) { self.map_mut(handle, |co| match co.shape().shape_type() { ShapeType::Capsule => { - let point = Point::from(Vector::y() * newHalfheight); + let point = Vector::Y * newHalfheight; co.shape_mut().as_capsule_mut().map(|b| { b.segment.a = -point; b.segment.b = point; @@ -357,7 +436,7 @@ impl RawColliderSet { let coords = vox .voxels() .filter_map(|vox| (!vox.state.is_empty()).then_some(vox.grid_coords)) - .flat_map(|ids| ids.coords.data.0[0]) + .flat_map(|ids| ids.to_array()) .collect(); Some(coords) }) @@ -374,7 +453,7 @@ impl RawColliderSet { pub fn coSetVoxel(&mut self, handle: FlatHandle, ix: i32, iy: i32, filled: bool) { self.map_mut(handle, |co| { if let Some(vox) = co.shape_mut().as_voxels_mut() { - vox.set_voxel(Point::new(ix, iy), filled); + vox.set_voxel(IVector::new(ix, iy), filled); } }) } @@ -383,7 +462,7 @@ impl RawColliderSet { pub fn coSetVoxel(&mut self, handle: FlatHandle, ix: i32, iy: i32, iz: i32, filled: bool) { self.map_mut(handle, |co| { if let Some(vox) = co.shape_mut().as_voxels_mut() { - vox.set_voxel(Point::new(ix, iy, iz), filled); + vox.set_voxel(IVector::new(ix, iy, iz), filled); } }) } @@ -406,8 +485,8 @@ impl RawColliderSet { ) { vox1.propagate_voxel_change( vox2, - Point::new(ix, iy), - Vector::new(shift_x, shift_y), + IVector::new(ix, iy), + IVector::new(shift_x, shift_y), ); } } @@ -434,8 +513,8 @@ impl RawColliderSet { ) { vox1.propagate_voxel_change( vox2, - Point::new(ix, iy, iz), - Vector::new(shift_x, shift_y, shift_z), + IVector::new(ix, iy, iz), + IVector::new(shift_x, shift_y, shift_z), ); } } @@ -456,7 +535,7 @@ impl RawColliderSet { co1.shape_mut().as_voxels_mut(), co2.shape_mut().as_voxels_mut(), ) { - vox1.combine_voxel_states(vox2, Vector::new(shift_x, shift_y)); + vox1.combine_voxel_states(vox2, IVector::new(shift_x, shift_y)); } } }) @@ -477,7 +556,7 @@ impl RawColliderSet { co1.shape_mut().as_voxels_mut(), co2.shape_mut().as_voxels_mut(), ) { - vox1.combine_voxel_states(vox2, Vector::new(shift_x, shift_y, shift_z)); + vox1.combine_voxel_states(vox2, IVector::new(shift_x, shift_y, shift_z)); } } }) @@ -486,7 +565,7 @@ impl RawColliderSet { /// The vertices of this triangle mesh, polyline, convex polyhedron, segment, triangle or convex polyhedron, if it is one. pub fn coVertices(&self, handle: FlatHandle) -> Option> { let flatten = - |vertices: &[Point]| vertices.iter().flat_map(|p| p.iter()).copied().collect(); + |vertices: &[Vector]| vertices.iter().flat_map(|p| p.as_ref().iter()).copied().collect(); self.map(handle, |co| match co.shape().shape_type() { ShapeType::TriMesh => co.shape().as_trimesh().map(|t| flatten(t.vertices())), #[cfg(feature = "dim2")] @@ -570,12 +649,25 @@ impl RawColliderSet { } /// The height of this heightfield if it is one. + #[cfg(feature = "dim2")] + pub fn coHeightfieldHeights(&self, handle: FlatHandle) -> Option> { + self.map(handle, |co| match co.shape().shape_type() { + ShapeType::HeightField => co + .shape() + .as_heightfield() + .map(|h| h.heights().to_vec()), + _ => None, + }) + } + + /// The height of this heightfield if it is one. + #[cfg(feature = "dim3")] pub fn coHeightfieldHeights(&self, handle: FlatHandle) -> Option> { self.map(handle, |co| match co.shape().shape_type() { ShapeType::HeightField => co .shape() .as_heightfield() - .map(|h| h.heights().as_slice().to_vec()), + .map(|h| h.heights().data().to_vec()), _ => None, }) } @@ -583,7 +675,7 @@ impl RawColliderSet { /// The scaling factor applied of this heightfield if it is one. pub fn coHeightfieldScale(&self, handle: FlatHandle) -> Option { self.map(handle, |co| match co.shape().shape_type() { - ShapeType::HeightField => co.shape().as_heightfield().map(|h| RawVector(*h.scale())), + ShapeType::HeightField => co.shape().as_heightfield().map(|h| RawVector(h.scale())), _ => None, }) } @@ -688,7 +780,7 @@ impl RawColliderSet { pub fn coContainsPoint(&self, handle: FlatHandle, point: &RawVector) -> bool { self.map(handle, |co| { co.shared_shape() - .containsPoint(co.position(), &point.0.into()) + .containsPoint(co.position(), point.0) }) } @@ -704,16 +796,16 @@ impl RawColliderSet { maxToi: f32, stop_at_penetration: bool, ) -> Option { - let pos2 = Isometry::from_parts(shape2Pos.0.into(), shape2Rot.0); + let pos2 = Pose::from_parts(shape2Pos.0, shape2Rot.0); self.map(handle, |co| { let pos1 = co.position(); co.shared_shape().castShape( pos1, - &colliderVel.0.into(), + &colliderVel.0, &*shape2.0, &pos2, - &shape2Vel.0.into(), + &shape2Vel.0, target_distance, maxToi, stop_at_penetration, @@ -740,10 +832,10 @@ impl RawColliderSet { self.map(handle, |co| { query::cast_shapes( co.position(), - &collider1Vel.0, + collider1Vel.0, co.shape(), co2.position(), - &collider2Vel.0, + collider2Vel.0, co2.shape(), ShapeCastOptions { max_time_of_impact: max_toi, @@ -769,7 +861,7 @@ impl RawColliderSet { shapePos2: &RawVector, shapeRot2: &RawRotation, ) -> bool { - let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0); + let pos2 = Pose::from_parts(shapePos2.0, shapeRot2.0); self.map(handle, |co| { co.shared_shape() @@ -785,7 +877,7 @@ impl RawColliderSet { shapeRot2: &RawRotation, prediction: f32, ) -> Option { - let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0); + let pos2 = Pose::from_parts(shapePos2.0, shapeRot2.0); self.map(handle, |co| { co.shared_shape() @@ -826,7 +918,7 @@ impl RawColliderSet { ) -> RawPointProjection { self.map(handle, |co| { co.shared_shape() - .projectPoint(co.position(), &point.0.into(), solid) + .projectPoint(co.position(), point.0, solid) }) } @@ -840,8 +932,8 @@ impl RawColliderSet { self.map(handle, |co| { co.shared_shape().intersectsRay( co.position(), - rayOrig.0.into(), - rayDir.0.into(), + rayOrig.0, + rayDir.0, maxToi, ) }) diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index 6e31d8eb..79c5bc0c 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -2,6 +2,7 @@ use crate::dynamics::{RawIslandManager, RawRigidBodySet}; use crate::geometry::RawShape; use crate::math::{RawRotation, RawVector}; use crate::utils::{self, FlatHandle}; +use rapier::math::Pose; use rapier::prelude::*; use wasm_bindgen::prelude::*; @@ -82,7 +83,7 @@ impl RawColliderSet { parent: FlatHandle, bodies: &mut RawRigidBodySet, ) -> Option { - let pos = Isometry::from_parts(translation.0.into(), rotation.0); + let pos = Pose::from_parts(translation.0, rotation.0); let mut builder = ColliderBuilder::new(shape.0.clone()) .enabled(enabled) .position(pos) diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs index 47043a27..68eaa4a7 100644 --- a/src/geometry/contact.rs +++ b/src/geometry/contact.rs @@ -14,18 +14,18 @@ impl RawShapeContact { } pub fn point1(&self) -> RawVector { - self.contact.point1.coords.into() + self.contact.point1.into() } pub fn point2(&self) -> RawVector { - self.contact.point2.coords.into() + self.contact.point2.into() } pub fn normal1(&self) -> RawVector { - self.contact.normal1.into_inner().into() + self.contact.normal1.into() } pub fn normal2(&self) -> RawVector { - self.contact.normal2.into_inner().into() + self.contact.normal2.into() } } diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 08918b88..4f398d92 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -22,13 +22,14 @@ mod shape; mod toi; use rapier::dynamics::CoefficientCombineRule; -use rapier::geometry::InteractionGroups; +use rapier::geometry::{InteractionGroups, InteractionTestMode}; use rapier::prelude::Group; pub const fn unpack_interaction_groups(memberships_filter: u32) -> InteractionGroups { InteractionGroups::new( Group::from_bits_retain((memberships_filter >> 16) as u32), Group::from_bits_retain((memberships_filter & 0x0000_ffff) as u32), + InteractionTestMode::And, ) } diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index be3fee25..ed97a676 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -122,11 +122,11 @@ impl RawContactManifold { } pub fn contact_local_p1(&self, i: usize) -> Option { - unsafe { (&(*self.0).points).get(i).map(|c| c.local_p1.coords.into()) } + unsafe { (&(*self.0).points).get(i).map(|c| c.local_p1.into()) } } pub fn contact_local_p2(&self, i: usize) -> Option { - unsafe { (&(*self.0).points).get(i).map(|c| c.local_p2.coords.into()) } + unsafe { (&(*self.0).points).get(i).map(|c| c.local_p2.into()) } } pub fn contact_dist(&self, i: usize) -> Real { @@ -189,7 +189,7 @@ impl RawContactManifold { (&(*self.0).data) .solver_contacts .get(i) - .map(|c| c.point.coords.into()) + .map(|c| c.point.into()) } } diff --git a/src/geometry/point.rs b/src/geometry/point.rs index e7bb4a93..996d573e 100644 --- a/src/geometry/point.rs +++ b/src/geometry/point.rs @@ -14,7 +14,7 @@ pub struct RawPointProjection(pub(crate) PointProjection); #[wasm_bindgen] impl RawPointProjection { pub fn point(&self) -> RawVector { - self.0.point.coords.into() + self.0.point.into() } pub fn isInside(&self) -> bool { @@ -36,7 +36,7 @@ impl RawPointColliderProjection { } pub fn point(&self) -> RawVector { - self.proj.point.coords.into() + self.proj.point.into() } pub fn isInside(&self) -> bool { diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs index 5f01d9f5..c73808eb 100644 --- a/src/geometry/shape.rs +++ b/src/geometry/shape.rs @@ -1,12 +1,7 @@ use crate::geometry::{RawPointProjection, RawRayIntersection, RawShapeCastHit, RawShapeContact}; use crate::math::{RawRotation, RawVector}; -#[cfg(feature = "dim3")] -use na::DMatrix; -#[cfg(feature = "dim2")] -use na::DVector; -use na::Unit; use rapier::geometry::{Shape, SharedShape, TriMeshFlags}; -use rapier::math::{Isometry, Point, Real, Vector, DIM}; +use rapier::math::{IVector, Pose, Vector, DIM}; use rapier::parry::query; use rapier::parry::query::{Ray, ShapeCastOptions}; use wasm_bindgen::prelude::*; @@ -14,11 +9,11 @@ use wasm_bindgen::prelude::*; pub trait SharedShapeUtility { fn castShape( &self, - shapePos1: &Isometry, - shapeVel1: &Vector, + shapePos1: &Pose, + shapeVel1: &Vector, shape2: &dyn Shape, - shapePos2: &Isometry, - shapeVel2: &Vector, + shapePos2: &Pose, + shapeVel2: &Vector, target_distance: f32, maxToi: f32, stop_at_penetration: bool, @@ -26,50 +21,50 @@ pub trait SharedShapeUtility { fn intersectsShape( &self, - shapePos1: &Isometry, + shapePos1: &Pose, shape2: &dyn Shape, - shapePos2: &Isometry, + shapePos2: &Pose, ) -> bool; fn contactShape( &self, - shapePos1: &Isometry, + shapePos1: &Pose, shape2: &dyn Shape, - shapePos2: &Isometry, + shapePos2: &Pose, prediction: f32, ) -> Option; - fn containsPoint(&self, shapePos: &Isometry, point: &Point) -> bool; + fn containsPoint(&self, shapePos: &Pose, point: Vector) -> bool; fn projectPoint( &self, - shapePos: &Isometry, - point: &Point, + shapePos: &Pose, + point: Vector, solid: bool, ) -> RawPointProjection; fn intersectsRay( &self, - shapePos: &Isometry, - rayOrig: Point, - rayDir: Vector, + shapePos: &Pose, + rayOrig: Vector, + rayDir: Vector, maxToi: f32, ) -> bool; fn castRay( &self, - shapePos: &Isometry, - rayOrig: Point, - rayDir: Vector, + shapePos: &Pose, + rayOrig: Vector, + rayDir: Vector, maxToi: f32, solid: bool, ) -> f32; fn castRayAndGetNormal( &self, - shapePos: &Isometry, - rayOrig: Point, - rayDir: Vector, + shapePos: &Pose, + rayOrig: Vector, + rayDir: Vector, maxToi: f32, solid: bool, ) -> Option; @@ -79,21 +74,21 @@ pub trait SharedShapeUtility { impl SharedShapeUtility for SharedShape { fn castShape( &self, - shapePos1: &Isometry, - shapeVel1: &Vector, + shapePos1: &Pose, + shapeVel1: &Vector, shape2: &dyn Shape, - shapePos2: &Isometry, - shapeVel2: &Vector, + shapePos2: &Pose, + shapeVel2: &Vector, target_distance: f32, maxToi: f32, stop_at_penetration: bool, ) -> Option { query::cast_shapes( shapePos1, - shapeVel1, + *shapeVel1, &*self.0, shapePos2, - &shapeVel2, + *shapeVel2, shape2, ShapeCastOptions { max_time_of_impact: maxToi, @@ -109,18 +104,18 @@ impl SharedShapeUtility for SharedShape { fn intersectsShape( &self, - shapePos1: &Isometry, + shapePos1: &Pose, shape2: &dyn Shape, - shapePos2: &Isometry, + shapePos2: &Pose, ) -> bool { query::intersection_test(shapePos1, &*self.0, shapePos2, shape2).unwrap_or(false) } fn contactShape( &self, - shapePos1: &Isometry, + shapePos1: &Pose, shape2: &dyn Shape, - shapePos2: &Isometry, + shapePos2: &Pose, prediction: f32, ) -> Option { query::contact(shapePos1, &*self.0, shapePos2, shape2, prediction) @@ -129,14 +124,14 @@ impl SharedShapeUtility for SharedShape { .map(|contact| RawShapeContact { contact }) } - fn containsPoint(&self, shapePos: &Isometry, point: &Point) -> bool { + fn containsPoint(&self, shapePos: &Pose, point: Vector) -> bool { self.as_ref().contains_point(shapePos, point) } fn projectPoint( &self, - shapePos: &Isometry, - point: &Point, + shapePos: &Pose, + point: Vector, solid: bool, ) -> RawPointProjection { RawPointProjection(self.as_ref().project_point(shapePos, point, solid)) @@ -144,9 +139,9 @@ impl SharedShapeUtility for SharedShape { fn intersectsRay( &self, - shapePos: &Isometry, - rayOrig: Point, - rayDir: Vector, + shapePos: &Pose, + rayOrig: Vector, + rayDir: Vector, maxToi: f32, ) -> bool { self.as_ref() @@ -155,9 +150,9 @@ impl SharedShapeUtility for SharedShape { fn castRay( &self, - shapePos: &Isometry, - rayOrig: Point, - rayDir: Vector, + shapePos: &Pose, + rayOrig: Vector, + rayDir: Vector, maxToi: f32, solid: bool, ) -> f32 { @@ -168,9 +163,9 @@ impl SharedShapeUtility for SharedShape { fn castRayAndGetNormal( &self, - shapePos: &Isometry, - rayOrig: Point, - rayDir: Vector, + shapePos: &Pose, + rayOrig: Vector, + rayDir: Vector, maxToi: f32, solid: bool, ) -> Option { @@ -254,11 +249,11 @@ impl RawShape { } pub fn halfspace(normal: &RawVector) -> Self { - Self(SharedShape::halfspace(Unit::new_normalize(normal.0))) + Self(SharedShape::halfspace(normal.0.normalize())) } pub fn capsule(halfHeight: f32, radius: f32) -> Self { - let p2 = Point::from(Vector::y() * halfHeight); + let p2 = Vector::Y * halfHeight; let p1 = -p2; Self(SharedShape::capsule(p1, p2, radius)) } @@ -290,18 +285,18 @@ impl RawShape { pub fn voxels(voxel_size: &RawVector, grid_coords: Vec) -> Self { let grid_coords: Vec<_> = grid_coords .chunks_exact(DIM) - .map(Point::from_slice) + .map(IVector::from_slice) .collect(); Self(SharedShape::voxels(voxel_size.0, &grid_coords)) } pub fn voxelsFromPoints(voxel_size: &RawVector, points: Vec) -> Self { - let points: Vec<_> = points.chunks_exact(DIM).map(Point::from_slice).collect(); + let points: Vec<_> = points.chunks_exact(DIM).map(Vector::from_slice).collect(); Self(SharedShape::voxels_from_points(voxel_size.0, &points)) } pub fn polyline(vertices: Vec, indices: Vec) -> Self { - let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let vertices = vertices.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); let indices: Vec<_> = indices.chunks(2).map(|v| [v[0], v[1]]).collect(); if indices.is_empty() { Self(SharedShape::polyline(vertices, None)) @@ -312,7 +307,7 @@ impl RawShape { pub fn trimesh(vertices: Vec, indices: Vec, flags: u32) -> Option { let flags = TriMeshFlags::from_bits(flags as u16).unwrap_or_default(); - let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let vertices = vertices.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); let indices = indices.chunks(3).map(|v| [v[0], v[1], v[2]]).collect(); SharedShape::trimesh_with_flags(vertices, indices, flags) .ok() @@ -321,7 +316,6 @@ impl RawShape { #[cfg(feature = "dim2")] pub fn heightfield(heights: Vec, scale: &RawVector) -> Self { - let heights = DVector::from_vec(heights); Self(SharedShape::heightfield(heights, scale.0)) } @@ -333,9 +327,10 @@ impl RawShape { scale: &RawVector, flags: u32, ) -> Self { + use rapier::parry::utils::Array2; let flags = rapier::parry::shape::HeightFieldFlags::from_bits(flags as u8).unwrap_or_default(); - let heights = DMatrix::from_vec(nrows as usize + 1, ncols as usize + 1, heights); + let heights = Array2::new(nrows as usize + 1, ncols as usize + 1, heights); Self(SharedShape::heightfield_with_flags(heights, scale.0, flags)) } @@ -362,30 +357,30 @@ impl RawShape { } pub fn convexHull(points: Vec) -> Option { - let points: Vec<_> = points.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let points: Vec<_> = points.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); SharedShape::convex_hull(&points).map(|s| Self(s)) } pub fn roundConvexHull(points: Vec, borderRadius: f32) -> Option { - let points: Vec<_> = points.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let points: Vec<_> = points.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); SharedShape::round_convex_hull(&points, borderRadius).map(|s| Self(s)) } #[cfg(feature = "dim2")] pub fn convexPolyline(vertices: Vec) -> Option { - let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let vertices = vertices.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); SharedShape::convex_polyline(vertices).map(|s| Self(s)) } #[cfg(feature = "dim2")] pub fn roundConvexPolyline(vertices: Vec, borderRadius: f32) -> Option { - let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let vertices = vertices.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); SharedShape::round_convex_polyline(vertices, borderRadius).map(|s| Self(s)) } #[cfg(feature = "dim3")] pub fn convexMesh(vertices: Vec, indices: Vec) -> Option { - let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let vertices = vertices.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); let indices: Vec<_> = indices.chunks(3).map(|v| [v[0], v[1], v[2]]).collect(); SharedShape::convex_mesh(vertices, &indices).map(|s| Self(s)) } @@ -396,7 +391,7 @@ impl RawShape { indices: Vec, borderRadius: f32, ) -> Option { - let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect(); + let vertices = vertices.chunks(DIM).map(|v| Vector::from_slice(v)).collect(); let indices: Vec<_> = indices.chunks(3).map(|v| [v[0], v[1], v[2]]).collect(); SharedShape::round_convex_mesh(vertices, &indices, borderRadius).map(|s| Self(s)) } @@ -414,8 +409,8 @@ impl RawShape { maxToi: f32, stop_at_penetration: bool, ) -> Option { - let pos1 = Isometry::from_parts(shapePos1.0.into(), shapeRot1.0); - let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0); + let pos1 = Pose::from_parts(shapePos1.0, shapeRot1.0); + let pos2 = Pose::from_parts(shapePos2.0, shapeRot2.0); self.0.castShape( &pos1, @@ -437,8 +432,8 @@ impl RawShape { shapePos2: &RawVector, shapeRot2: &RawRotation, ) -> bool { - let pos1 = Isometry::from_parts(shapePos1.0.into(), shapeRot1.0); - let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0); + let pos1 = Pose::from_parts(shapePos1.0, shapeRot1.0); + let pos2 = Pose::from_parts(shapePos2.0, shapeRot2.0); self.0.intersectsShape(&pos1, &*shape2.0, &pos2) } @@ -452,8 +447,8 @@ impl RawShape { shapeRot2: &RawRotation, prediction: f32, ) -> Option { - let pos1 = Isometry::from_parts(shapePos1.0.into(), shapeRot1.0); - let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0); + let pos1 = Pose::from_parts(shapePos1.0, shapeRot1.0); + let pos2 = Pose::from_parts(shapePos2.0, shapeRot2.0); self.0.contactShape(&pos1, &*shape2.0, &pos2, prediction) } @@ -464,9 +459,9 @@ impl RawShape { shapeRot: &RawRotation, point: &RawVector, ) -> bool { - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); - self.0.containsPoint(&pos, &point.0.into()) + self.0.containsPoint(&pos, point.0) } pub fn projectPoint( @@ -476,9 +471,9 @@ impl RawShape { point: &RawVector, solid: bool, ) -> RawPointProjection { - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); - self.0.projectPoint(&pos, &point.0.into(), solid) + self.0.projectPoint(&pos, point.0, solid) } pub fn intersectsRay( @@ -489,10 +484,10 @@ impl RawShape { rayDir: &RawVector, maxToi: f32, ) -> bool { - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); self.0 - .intersectsRay(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi) + .intersectsRay(&pos, rayOrig.0, rayDir.0, maxToi) } pub fn castRay( @@ -504,10 +499,10 @@ impl RawShape { maxToi: f32, solid: bool, ) -> f32 { - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); self.0 - .castRay(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi, solid) + .castRay(&pos, rayOrig.0, rayDir.0, maxToi, solid) } pub fn castRayAndGetNormal( @@ -519,9 +514,9 @@ impl RawShape { maxToi: f32, solid: bool, ) -> Option { - let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0); + let pos = Pose::from_parts(shapePos.0, shapeRot.0); self.0 - .castRayAndGetNormal(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi, solid) + .castRayAndGetNormal(&pos, rayOrig.0, rayDir.0, maxToi, solid) } } diff --git a/src/geometry/toi.rs b/src/geometry/toi.rs index 1e00675d..116da342 100644 --- a/src/geometry/toi.rs +++ b/src/geometry/toi.rs @@ -15,19 +15,19 @@ impl RawShapeCastHit { } pub fn witness1(&self) -> RawVector { - self.hit.witness1.coords.into() + self.hit.witness1.into() } pub fn witness2(&self) -> RawVector { - self.hit.witness2.coords.into() + self.hit.witness2.into() } pub fn normal1(&self) -> RawVector { - self.hit.normal1.into_inner().into() + self.hit.normal1.into() } pub fn normal2(&self) -> RawVector { - self.hit.normal2.into_inner().into() + self.hit.normal2.into() } } @@ -48,18 +48,18 @@ impl RawColliderShapeCastHit { } pub fn witness1(&self) -> RawVector { - self.hit.witness1.coords.into() + self.hit.witness1.into() } pub fn witness2(&self) -> RawVector { - self.hit.witness2.coords.into() + self.hit.witness2.into() } pub fn normal1(&self) -> RawVector { - self.hit.normal1.into_inner().into() + self.hit.normal1.into() } pub fn normal2(&self) -> RawVector { - self.hit.normal2.into_inner().into() + self.hit.normal2.into() } } diff --git a/src/lib.rs b/src/lib.rs index 132809dc..840c6a01 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -4,7 +4,6 @@ #![allow(non_snake_case)] // JS uses camelCase, so we will follow its convention for the generated bindings. // #![deny(missing_docs)] -extern crate nalgebra as na; #[cfg(feature = "dim2")] extern crate rapier2d as rapier; #[cfg(feature = "dim3")] diff --git a/src/math.rs b/src/math.rs index 5c50c142..e32127cc 100644 --- a/src/math.rs +++ b/src/math.rs @@ -3,10 +3,8 @@ #[cfg(feature = "dim3")] use js_sys::Float32Array; #[cfg(feature = "dim3")] -use na::{Quaternion, Unit}; -#[cfg(feature = "dim3")] use rapier::math::Real; -use rapier::math::{Point, Rotation, Vector}; +use rapier::math::{Rotation, Vector}; #[cfg(feature = "dim3")] use rapier::parry::utils::SdpMatrix3; use wasm_bindgen::prelude::*; @@ -15,10 +13,10 @@ use wasm_bindgen::prelude::*; #[repr(transparent)] #[derive(Copy, Clone)] /// A rotation quaternion. -pub struct RawRotation(pub(crate) Rotation); +pub struct RawRotation(pub(crate) Rotation); -impl From> for RawRotation { - fn from(v: Rotation) -> Self { +impl From for RawRotation { + fn from(v: Rotation) -> Self { RawRotation(v) } } @@ -29,10 +27,10 @@ impl From> for RawRotation { impl RawRotation { /// The identity rotation. pub fn identity() -> Self { - Self(Rotation::identity()) + Self(Rotation::IDENTITY) } - /// The rotation with thegiven angle. + /// The rotation with the given angle. pub fn fromAngle(angle: f32) -> Self { Self(Rotation::new(angle)) } @@ -40,13 +38,13 @@ impl RawRotation { /// The imaginary part of this complex number. #[wasm_bindgen(getter)] pub fn im(&self) -> f32 { - self.0.im + self.0.sin() } /// The real part of this complex number. #[wasm_bindgen(getter)] pub fn re(&self) -> f32 { - self.0.re + self.0.cos() } /// The rotation angle in radians. @@ -62,30 +60,30 @@ impl RawRotation { impl RawRotation { #[wasm_bindgen(constructor)] pub fn new(x: f32, y: f32, z: f32, w: f32) -> Self { - RawRotation(Unit::new_unchecked(Quaternion::new(w, x, y, z))) + RawRotation(Rotation::from_xyzw(x, y, z, w)) } /// The identity quaternion. pub fn identity() -> Self { - Self(Rotation::identity()) + Self(Rotation::IDENTITY) } /// The `x` component of this quaternion. #[wasm_bindgen(getter)] pub fn x(&self) -> f32 { - self.0.i + self.0.x } /// The `y` component of this quaternion. #[wasm_bindgen(getter)] pub fn y(&self) -> f32 { - self.0.j + self.0.y } /// The `z` component of this quaternion. #[wasm_bindgen(getter)] pub fn z(&self) -> f32 { - self.0.k + self.0.z } /// The `w` component of this quaternion. @@ -99,25 +97,19 @@ impl RawRotation { #[repr(transparent)] #[derive(Copy, Clone)] /// A vector. -pub struct RawVector(pub(crate) Vector); +pub struct RawVector(pub(crate) Vector); -impl From> for RawVector { - fn from(v: Vector) -> Self { +impl From for RawVector { + fn from(v: Vector) -> Self { RawVector(v) } } -impl From> for RawVector { - fn from(pt: Point) -> Self { - pt.coords.into() - } -} - #[wasm_bindgen] impl RawVector { /// Creates a new vector filled with zeros. pub fn zero() -> Self { - Self(Vector::zeros()) + Self(Vector::ZERO) } /// Creates a new 2D vector from its two components. @@ -184,13 +176,13 @@ impl RawVector { /// Create a new 2D vector from this vector with its components rearranged as `{x, y}`. #[cfg(feature = "dim2")] pub fn xy(&self) -> Self { - Self(self.0.xy()) + Self(Vector::new(self.0.x, self.0.y)) } /// Create a new 2D vector from this vector with its components rearranged as `{y, x}`. #[cfg(feature = "dim2")] pub fn yx(&self) -> Self { - Self(self.0.yx()) + Self(Vector::new(self.0.y, self.0.x)) } /// Create a new 2D vector from this vector with its components rearranged as `{z, y}`. @@ -206,37 +198,37 @@ impl RawVector { /// other swizzling functions. #[cfg(feature = "dim3")] pub fn xyz(&self) -> Self { - Self(self.0.xyz()) + Self(Vector::new(self.0.x, self.0.y, self.0.z)) } /// Create a new 3D vector from this vector with its components rearranged as `{y, x, z}`. #[cfg(feature = "dim3")] pub fn yxz(&self) -> Self { - Self(self.0.yxz()) + Self(Vector::new(self.0.y, self.0.x, self.0.z)) } /// Create a new 3D vector from this vector with its components rearranged as `{z, x, y}`. #[cfg(feature = "dim3")] pub fn zxy(&self) -> Self { - Self(self.0.zxy()) + Self(Vector::new(self.0.z, self.0.x, self.0.y)) } /// Create a new 3D vector from this vector with its components rearranged as `{x, z, y}`. #[cfg(feature = "dim3")] pub fn xzy(&self) -> Self { - Self(self.0.xzy()) + Self(Vector::new(self.0.x, self.0.z, self.0.y)) } /// Create a new 3D vector from this vector with its components rearranged as `{y, z, x}`. #[cfg(feature = "dim3")] pub fn yzx(&self) -> Self { - Self(self.0.yzx()) + Self(Vector::new(self.0.y, self.0.z, self.0.x)) } /// Create a new 3D vector from this vector with its components rearranged as `{z, y, x}`. #[cfg(feature = "dim3")] pub fn zyx(&self) -> Self { - Self(self.0.zyx()) + Self(Vector::new(self.0.z, self.0.y, self.0.x)) } } diff --git a/src/pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline.rs index 1676e59b..e8973ba7 100644 --- a/src/pipeline/debug_render_pipeline.rs +++ b/src/pipeline/debug_render_pipeline.rs @@ -6,7 +6,7 @@ use palette::rgb::Rgba; use palette::Hsla; use rapier::dynamics::{RigidBody, RigidBodySet}; use rapier::geometry::ColliderSet; -use rapier::math::{Point, Real}; +use rapier::math::Vector; use rapier::pipeline::{DebugRenderBackend, DebugRenderObject, DebugRenderPipeline}; use rapier::prelude::{QueryFilter, QueryFilterFlags}; use wasm_bindgen::prelude::*; @@ -135,12 +135,12 @@ impl<'a> DebugRenderBackend for CopyToBuffersBackend<'a> { fn draw_line( &mut self, _object: DebugRenderObject, - a: Point, - b: Point, + a: Vector, + b: Vector, color: [f32; 4], ) { - self.vertices.extend_from_slice(a.coords.as_slice()); - self.vertices.extend_from_slice(b.coords.as_slice()); + self.vertices.extend_from_slice(a.as_ref()); + self.vertices.extend_from_slice(b.as_ref()); // Convert to RGB which will be easier to handle in JS. let hsl = Hsla::new(color[0], color[1], color[2], color[3]); diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs index 2bbc8034..b354f818 100644 --- a/src/pipeline/physics_hooks.rs +++ b/src/pipeline/physics_hooks.rs @@ -36,14 +36,12 @@ impl PhysicsHooks for RawPhysicsHooks { .map(|rb| JsValue::from(utils::flat_handle(rb.0))) .unwrap_or(JsValue::NULL); + let collider1 = JsValue::from(utils::flat_handle(ctxt.collider1.0)); + let collider2 = JsValue::from(utils::flat_handle(ctxt.collider2.0)); + let result = self .filter_contact_pair - .bind2( - &self.this, - &JsValue::from(utils::flat_handle(ctxt.collider1.0)), - &JsValue::from(utils::flat_handle(ctxt.collider2.0)), - ) - .call2(&self.this, &rb1, &rb2) + .call4(&self.this, &collider1, &collider2, &rb1, &rb2) .ok()?; let flags = result.as_f64()?; // TODO: not sure exactly why we have to do `flags as u32` instead @@ -61,13 +59,11 @@ impl PhysicsHooks for RawPhysicsHooks { .map(|rb| JsValue::from(utils::flat_handle(rb.0))) .unwrap_or(JsValue::NULL); + let collider1 = JsValue::from(utils::flat_handle(ctxt.collider1.0)); + let collider2 = JsValue::from(utils::flat_handle(ctxt.collider2.0)); + self.filter_intersection_pair - .bind2( - &self.this, - &JsValue::from(utils::flat_handle(ctxt.collider1.0)), - &JsValue::from(utils::flat_handle(ctxt.collider2.0)), - ) - .call2(&self.this, &rb1, &rb2) + .call4(&self.this, &collider1, &collider2, &rb1, &rb2) .ok() .and_then(|res| res.as_bool()) .unwrap_or(false) @@ -91,7 +87,7 @@ pub struct RawContactModificationContext { pub rigid_body2: Option, pub manifold: *const ContactManifold, pub solver_contacts: *mut Vec, - normal: *mut Vector, + normal: *mut Vector, user_data: *mut u32, } @@ -149,7 +145,7 @@ impl RawContactModificationContext { unsafe { (*self.solver_contacts) .get(i) - .map(|c| c.point.coords.into()) + .map(|c| c.point.into()) } } diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index 287cfeea..e844ed99 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -110,7 +110,7 @@ impl RawPhysicsPipeline { ccd_solver: &mut RawCCDSolver, ) { self.0.step( - &gravity.0, + gravity.0, &integrationParameters.0, &mut islands.0, &mut broadPhase.0, @@ -153,7 +153,7 @@ impl RawPhysicsPipeline { }; self.0.step( - &gravity.0, + gravity.0, &integrationParameters.0, &mut islands.0, &mut broadPhase.0, diff --git a/src/pipeline/serialization_pipeline.rs b/src/pipeline/serialization_pipeline.rs index 97076f63..8d2e841a 100644 --- a/src/pipeline/serialization_pipeline.rs +++ b/src/pipeline/serialization_pipeline.rs @@ -14,7 +14,7 @@ use wasm_bindgen::prelude::*; #[derive(Serialize)] struct SerializableWorld<'a> { - gravity: &'a Vector, + gravity: &'a Vector, integration_parameters: &'a IntegrationParameters, islands: &'a IslandManager, broad_phase: &'a DefaultBroadPhase, @@ -27,7 +27,7 @@ struct SerializableWorld<'a> { #[derive(Deserialize)] struct DeserializableWorld { - 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} - } -} diff --git a/testbed3d/package.json b/testbed3d/package.json deleted file mode 100644 index 516ee275..00000000 --- a/testbed3d/package.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "author": "sebcrozet ", - "name": "rapier-testbed3d", - "version": "0.1.0", - "description": "JavaScript testbed for rapier.", - "license": "Apache-2.0", - "main": "dist/rapier-testbed3d.js", - "scripts": { - "build": "rimraf dist pkg && webpack", - "start": "rimraf dist pkg && webpack serve --open --node-env development" - }, - "dependencies": { - "@dimforge/rapier3d": "file:../builds/rapier3d", - "hash-wasm": "^4.12.0", - "lil-gui": "^0.17.0", - "seedrandom": "^3.0.5", - "stats.js": "^0.17.0", - "three": "^0.146.0" - }, - "devDependencies": { - "@types/seedrandom": "^3.0.2", - "@types/stats.js": "^0.17.0", - "@types/three": "^0.144.0", - "copy-webpack-plugin": "^11.0.0", - "rimraf": "^3.0.2", - "ts-loader": "^9.4.1", - "typescript": "^4.8.4", - "webpack": "^5.74.0", - "webpack-cli": "^4.10.0", - "webpack-dev-server": "^4.11.1" - } -} diff --git a/testbed3d/webpack.config.js b/testbed3d/webpack.config.js deleted file mode 100644 index 0e5c9839..00000000 --- a/testbed3d/webpack.config.js +++ /dev/null @@ -1,55 +0,0 @@ -const webpack = require("webpack"); -const path = require("path"); -const CopyPlugin = require("copy-webpack-plugin"); - -const isDev = process.env.NODE_ENV === "development"; -const dist = path.resolve(__dirname, "dist"); - -/** - * @type {import('webpack-dev-server').Configuration} - */ -const devServer = { - static: { - directory: dist, - }, - allowedHosts: "all", - compress: true, -}; - -/** - * @type {import('webpack').Configuration} - */ -const webpackConfig = { - mode: isDev ? "development" : "production", - entry: "./src/index.ts", - devtool: "inline-source-map", - output: { - path: dist, - filename: "index.js", - }, - resolve: { - extensions: [".ts", ".js"], - }, - devServer, - performance: false, - experiments: { - asyncWebAssembly: true, - syncWebAssembly: true, - }, - module: { - rules: [ - { - test: /\.tsx?$/, - use: "ts-loader", - exclude: /node_modules/, - }, - ], - }, - plugins: [ - new CopyPlugin({ - patterns: [{from: "static", to: dist}], - }), - ], -}; - -module.exports = webpackConfig;