fireball/lib/physics-module.js
2018-12-25 17:29:22 +03:30

4505 lines
486 KiB
JavaScript

(function (global, factory) {
typeof exports === 'object' && typeof module !== 'undefined' ? factory(exports, require('three'), require('whs')) :
typeof define === 'function' && define.amd ? define(['exports', 'three', 'whs'], factory) :
(factory((global.PHYSICS = {}),global.THREE,global.WHS));
}(this, (function (exports,three,whs) { 'use strict';
var MESSAGE_TYPES = {
WORLDREPORT: 0,
COLLISIONREPORT: 1,
VEHICLEREPORT: 2,
CONSTRAINTREPORT: 3,
SOFTREPORT: 4
};
var REPORT_ITEMSIZE = 14,
COLLISIONREPORT_ITEMSIZE = 5,
VEHICLEREPORT_ITEMSIZE = 9,
CONSTRAINTREPORT_ITEMSIZE = 6;
var temp1Vector3 = new three.Vector3(),
temp2Vector3 = new three.Vector3(),
temp1Matrix4 = new three.Matrix4(),
temp1Quat = new three.Quaternion();
var getEulerXYZFromQuaternion = function getEulerXYZFromQuaternion(x, y, z, w) {
return new three.Vector3(Math.atan2(2 * (x * w - y * z), w * w - x * x - y * y + z * z), Math.asin(2 * (x * z + y * w)), Math.atan2(2 * (z * w - x * y), w * w + x * x - y * y - z * z));
};
var getQuatertionFromEuler = function getQuatertionFromEuler(x, y, z) {
var c1 = Math.cos(y);
var s1 = Math.sin(y);
var c2 = Math.cos(-z);
var s2 = Math.sin(-z);
var c3 = Math.cos(x);
var s3 = Math.sin(x);
var c1c2 = c1 * c2;
var s1s2 = s1 * s2;
return {
w: c1c2 * c3 - s1s2 * s3,
x: c1c2 * s3 + s1s2 * c3,
y: s1 * c2 * c3 + c1 * s2 * s3,
z: c1 * s2 * c3 - s1 * c2 * s3
};
};
var convertWorldPositionToObject = function convertWorldPositionToObject(position, object) {
temp1Matrix4.identity(); // reset temp matrix
// Set the temp matrix's rotation to the object's rotation
temp1Matrix4.identity().makeRotationFromQuaternion(object.quaternion);
// Invert rotation matrix in order to "unrotate" a point back to object space
temp1Matrix4.getInverse(temp1Matrix4);
// Yay! Temp vars!
temp1Vector3.copy(position);
temp2Vector3.copy(object.position);
// Apply the rotation
return temp1Vector3.sub(temp2Vector3).applyMatrix4(temp1Matrix4);
};
var addObjectChildren = function addObjectChildren(parent, object) {
for (var i = 0; i < object.children.length; i++) {
var child = object.children[i];
var physics = child.component ? child.component.use('physics') : false;
if (physics) {
var data = physics.data;
child.updateMatrix();
child.updateMatrixWorld();
temp1Vector3.setFromMatrixPosition(child.matrixWorld);
temp1Quat.setFromRotationMatrix(child.matrixWorld);
data.position_offset = {
x: temp1Vector3.x,
y: temp1Vector3.y,
z: temp1Vector3.z
};
data.rotation = {
x: temp1Quat.x,
y: temp1Quat.y,
z: temp1Quat.z,
w: temp1Quat.w
};
parent.component.use('physics').data.children.push(data);
}
addObjectChildren(parent, child);
}
};
var classCallCheck = function (instance, Constructor) {
if (!(instance instanceof Constructor)) {
throw new TypeError("Cannot call a class as a function");
}
};
var createClass = function () {
function defineProperties(target, props) {
for (var i = 0; i < props.length; i++) {
var descriptor = props[i];
descriptor.enumerable = descriptor.enumerable || false;
descriptor.configurable = true;
if ("value" in descriptor) descriptor.writable = true;
Object.defineProperty(target, descriptor.key, descriptor);
}
}
return function (Constructor, protoProps, staticProps) {
if (protoProps) defineProperties(Constructor.prototype, protoProps);
if (staticProps) defineProperties(Constructor, staticProps);
return Constructor;
};
}();
var _extends = Object.assign || function (target) {
for (var i = 1; i < arguments.length; i++) {
var source = arguments[i];
for (var key in source) {
if (Object.prototype.hasOwnProperty.call(source, key)) {
target[key] = source[key];
}
}
}
return target;
};
var inherits = function (subClass, superClass) {
if (typeof superClass !== "function" && superClass !== null) {
throw new TypeError("Super expression must either be null or a function, not " + typeof superClass);
}
subClass.prototype = Object.create(superClass && superClass.prototype, {
constructor: {
value: subClass,
enumerable: false,
writable: true,
configurable: true
}
});
if (superClass) Object.setPrototypeOf ? Object.setPrototypeOf(subClass, superClass) : subClass.__proto__ = superClass;
};
var possibleConstructorReturn = function (self, call) {
if (!self) {
throw new ReferenceError("this hasn't been initialised - super() hasn't been called");
}
return call && (typeof call === "object" || typeof call === "function") ? call : self;
};
var toConsumableArray = function (arr) {
if (Array.isArray(arr)) {
for (var i = 0, arr2 = Array(arr.length); i < arr.length; i++) arr2[i] = arr[i];
return arr2;
} else {
return Array.from(arr);
}
};
var Eventable = function () {
function Eventable() {
classCallCheck(this, Eventable);
this._eventListeners = {};
}
createClass(Eventable, [{
key: "addEventListener",
value: function addEventListener(event_name, callback) {
if (!this._eventListeners.hasOwnProperty(event_name)) this._eventListeners[event_name] = [];
this._eventListeners[event_name].push(callback);
}
}, {
key: "removeEventListener",
value: function removeEventListener(event_name, callback) {
var index = void 0;
if (!this._eventListeners.hasOwnProperty(event_name)) return false;
if ((index = this._eventListeners[event_name].indexOf(callback)) >= 0) {
this._eventListeners[event_name].splice(index, 1);
return true;
}
return false;
}
}, {
key: "dispatchEvent",
value: function dispatchEvent(event_name) {
var i = void 0;
var parameters = Array.prototype.splice.call(arguments, 1);
if (this._eventListeners.hasOwnProperty(event_name)) {
for (i = 0; i < this._eventListeners[event_name].length; i++) {
this._eventListeners[event_name][i].apply(this, parameters);
}
}
}
}], [{
key: "make",
value: function make(obj) {
obj.prototype.addEventListener = Eventable.prototype.addEventListener;
obj.prototype.removeEventListener = Eventable.prototype.removeEventListener;
obj.prototype.dispatchEvent = Eventable.prototype.dispatchEvent;
}
}]);
return Eventable;
}();
var ConeTwistConstraint = function () {
function ConeTwistConstraint(obja, objb, position) {
classCallCheck(this, ConeTwistConstraint);
var objecta = obja;
var objectb = obja;
if (position === undefined) console.error('Both objects must be defined in a ConeTwistConstraint.');
this.type = 'conetwist';
this.appliedImpulse = 0;
this.worldModule = null; // Will be redefined by .addConstraint
this.objecta = objecta.use('physics').data.id;
this.positiona = convertWorldPositionToObject(position, objecta).clone();
this.objectb = objectb.use('physics').data.id;
this.positionb = convertWorldPositionToObject(position, objectb).clone();
this.axisa = { x: objecta.rotation.x, y: objecta.rotation.y, z: objecta.rotation.z };
this.axisb = { x: objectb.rotation.x, y: objectb.rotation.y, z: objectb.rotation.z };
}
createClass(ConeTwistConstraint, [{
key: 'getDefinition',
value: function getDefinition() {
return {
type: this.type,
id: this.id,
objecta: this.objecta,
objectb: this.objectb,
positiona: this.positiona,
positionb: this.positionb,
axisa: this.axisa,
axisb: this.axisb
};
}
}, {
key: 'setLimit',
value: function setLimit(x, y, z) {
if (this.worldModule) this.worldModule.execute('conetwist_setLimit', { constraint: this.id, x: x, y: y, z: z });
}
}, {
key: 'enableMotor',
value: function enableMotor() {
if (this.worldModule) this.worldModule.execute('conetwist_enableMotor', { constraint: this.id });
}
}, {
key: 'setMaxMotorImpulse',
value: function setMaxMotorImpulse(max_impulse) {
if (this.worldModule) this.worldModule.execute('conetwist_setMaxMotorImpulse', { constraint: this.id, max_impulse: max_impulse });
}
}, {
key: 'setMotorTarget',
value: function setMotorTarget(target) {
if (target instanceof three.Vector3) target = new three.Quaternion().setFromEuler(new three.Euler(target.x, target.y, target.z));else if (target instanceof three.Euler) target = new three.Quaternion().setFromEuler(target);else if (target instanceof three.Matrix4) target = new three.Quaternion().setFromRotationMatrix(target);
if (this.worldModule) this.worldModule.execute('conetwist_setMotorTarget', {
constraint: this.id,
x: target.x,
y: target.y,
z: target.z,
w: target.w
});
}
}]);
return ConeTwistConstraint;
}();
var HingeConstraint = function () {
function HingeConstraint(obja, objb, position, axis) {
classCallCheck(this, HingeConstraint);
var objecta = obja;
var objectb = objb;
if (axis === undefined) {
axis = position;
position = objectb;
objectb = undefined;
}
this.type = 'hinge';
this.appliedImpulse = 0;
this.worldModule = null; // Will be redefined by .addConstraint
this.objecta = objecta.use('physics').data.id;
this.positiona = convertWorldPositionToObject(position, objecta).clone();
this.position = position.clone();
this.axis = axis;
if (objectb) {
this.objectb = objectb.use('physics').data.id;
this.positionb = convertWorldPositionToObject(position, objectb).clone();
}
}
createClass(HingeConstraint, [{
key: 'getDefinition',
value: function getDefinition() {
return {
type: this.type,
id: this.id,
objecta: this.objecta,
objectb: this.objectb,
positiona: this.positiona,
positionb: this.positionb,
axis: this.axis
};
}
}, {
key: 'setLimits',
value: function setLimits(low, high, bias_factor, relaxation_factor) {
if (this.worldModule) this.worldModule.execute('hinge_setLimits', {
constraint: this.id,
low: low,
high: high,
bias_factor: bias_factor,
relaxation_factor: relaxation_factor
});
}
}, {
key: 'enableAngularMotor',
value: function enableAngularMotor(velocity, acceleration) {
if (this.worldModule) this.worldModule.execute('hinge_enableAngularMotor', {
constraint: this.id,
velocity: velocity,
acceleration: acceleration
});
}
}, {
key: 'disableMotor',
value: function disableMotor() {
if (this.worldModule) this.worldModule.execute('hinge_disableMotor', { constraint: this.id });
}
}]);
return HingeConstraint;
}();
var PointConstraint = function () {
function PointConstraint(obja, objb, position) {
classCallCheck(this, PointConstraint);
var objecta = obja;
var objectb = objb;
if (position === undefined) {
position = objectb;
objectb = undefined;
}
this.type = 'point';
this.appliedImpulse = 0;
this.objecta = objecta.use('physics').data.id;
this.positiona = convertWorldPositionToObject(position, objecta).clone();
if (objectb) {
this.objectb = objectb.use('physics').data.id;
this.positionb = convertWorldPositionToObject(position, objectb).clone();
}
}
createClass(PointConstraint, [{
key: 'getDefinition',
value: function getDefinition() {
return {
type: this.type,
id: this.id,
objecta: this.objecta,
objectb: this.objectb,
positiona: this.positiona,
positionb: this.positionb
};
}
}]);
return PointConstraint;
}();
var SliderConstraint = function () {
function SliderConstraint(obja, objb, position, axis) {
classCallCheck(this, SliderConstraint);
var objecta = obja;
var objectb = objb;
if (axis === undefined) {
axis = position;
position = objectb;
objectb = undefined;
}
this.type = 'slider';
this.appliedImpulse = 0;
this.worldModule = null; // Will be redefined by .addConstraint
this.objecta = objecta.use('physics').data.id;
this.positiona = convertWorldPositionToObject(position, objecta).clone();
this.axis = axis;
if (objectb) {
this.objectb = objectb.use('physics').data.id;
this.positionb = convertWorldPositionToObject(position, objectb).clone();
}
}
createClass(SliderConstraint, [{
key: 'getDefinition',
value: function getDefinition() {
return {
type: this.type,
id: this.id,
objecta: this.objecta,
objectb: this.objectb,
positiona: this.positiona,
positionb: this.positionb,
axis: this.axis
};
}
}, {
key: 'setLimits',
value: function setLimits(lin_lower, lin_upper, ang_lower, ang_upper) {
if (this.worldModule) this.worldModule.execute('slider_setLimits', {
constraint: this.id,
lin_lower: lin_lower,
lin_upper: lin_upper,
ang_lower: ang_lower,
ang_upper: ang_upper
});
}
}, {
key: 'setRestitution',
value: function setRestitution(linear, angular) {
if (this.worldModule) this.worldModule.execute('slider_setRestitution', {
constraint: this.id,
linear: linear,
angular: angular
});
}
}, {
key: 'enableLinearMotor',
value: function enableLinearMotor(velocity, acceleration) {
if (this.worldModule) this.worldModule.execute('slider_enableLinearMotor', {
constraint: this.id,
velocity: velocity,
acceleration: acceleration
});
}
}, {
key: 'disableLinearMotor',
value: function disableLinearMotor() {
if (this.worldModule) this.worldModule.execute('slider_disableLinearMotor', { constraint: this.id });
}
}, {
key: 'enableAngularMotor',
value: function enableAngularMotor(velocity, acceleration) {
this.scene.execute('slider_enableAngularMotor', {
constraint: this.id,
velocity: velocity,
acceleration: acceleration
});
}
}, {
key: 'disableAngularMotor',
value: function disableAngularMotor() {
if (this.worldModule) this.worldModule.execute('slider_disableAngularMotor', { constraint: this.id });
}
}]);
return SliderConstraint;
}();
var DOFConstraint = function () {
function DOFConstraint(obja, objb, position) {
classCallCheck(this, DOFConstraint);
var objecta = obja;
var objectb = objb;
if (position === undefined) {
position = objectb;
objectb = undefined;
}
this.type = 'dof';
this.appliedImpulse = 0;
this.worldModule = null; // Will be redefined by .addConstraint
this.objecta = objecta.use('physics').data.id;
this.positiona = convertWorldPositionToObject(position, objecta).clone();
this.axisa = { x: objecta.rotation.x, y: objecta.rotation.y, z: objecta.rotation.z };
if (objectb) {
this.objectb = objectb.use('physics').data.id;
this.positionb = convertWorldPositionToObject(position, objectb).clone();
this.axisb = { x: objectb.rotation.x, y: objectb.rotation.y, z: objectb.rotation.z };
}
}
createClass(DOFConstraint, [{
key: 'getDefinition',
value: function getDefinition() {
return {
type: this.type,
id: this.id,
objecta: this.objecta,
objectb: this.objectb,
positiona: this.positiona,
positionb: this.positionb,
axisa: this.axisa,
axisb: this.axisb
};
}
}, {
key: 'setLinearLowerLimit',
value: function setLinearLowerLimit(limit) {
if (this.worldModule) this.worldModule.execute('dof_setLinearLowerLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z });
}
}, {
key: 'setLinearUpperLimit',
value: function setLinearUpperLimit(limit) {
if (this.worldModule) this.worldModule.execute('dof_setLinearUpperLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z });
}
}, {
key: 'setAngularLowerLimit',
value: function setAngularLowerLimit(limit) {
if (this.worldModule) this.worldModule.execute('dof_setAngularLowerLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z });
}
}, {
key: 'setAngularUpperLimit',
value: function setAngularUpperLimit(limit) {
if (this.worldModule) this.worldModule.execute('dof_setAngularUpperLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z });
}
}, {
key: 'enableAngularMotor',
value: function enableAngularMotor(which) {
if (this.worldModule) this.worldModule.execute('dof_enableAngularMotor', { constraint: this.id, which: which });
}
}, {
key: 'configureAngularMotor',
value: function configureAngularMotor(which, low_angle, high_angle, velocity, max_force) {
if (this.worldModule) this.worldModule.execute('dof_configureAngularMotor', { constraint: this.id, which: which, low_angle: low_angle, high_angle: high_angle, velocity: velocity, max_force: max_force });
}
}, {
key: 'disableAngularMotor',
value: function disableAngularMotor(which) {
if (this.worldModule) this.worldModule.execute('dof_disableAngularMotor', { constraint: this.id, which: which });
}
}]);
return DOFConstraint;
}();
var Vehicle = function () {
function Vehicle(mesh) {
var tuning = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : new VehicleTuning();
classCallCheck(this, Vehicle);
this.mesh = mesh;
this.wheels = [];
this._physijs = {
id: getObjectId(),
rigidBody: mesh._physijs.id,
suspension_stiffness: tuning.suspension_stiffness,
suspension_compression: tuning.suspension_compression,
suspension_damping: tuning.suspension_damping,
max_suspension_travel: tuning.max_suspension_travel,
friction_slip: tuning.friction_slip,
max_suspension_force: tuning.max_suspension_force
};
}
createClass(Vehicle, [{
key: 'addWheel',
value: function addWheel(wheel_geometry, wheel_material, connection_point, wheel_direction, wheel_axle, suspension_rest_length, wheel_radius, is_front_wheel, tuning) {
var wheel = new three.Mesh(wheel_geometry, wheel_material);
wheel.castShadow = wheel.receiveShadow = true;
wheel.position.copy(wheel_direction).multiplyScalar(suspension_rest_length / 100).add(connection_point);
this.world.add(wheel);
this.wheels.push(wheel);
this.world.execute('addWheel', {
id: this._physijs.id,
connection_point: { x: connection_point.x, y: connection_point.y, z: connection_point.z },
wheel_direction: { x: wheel_direction.x, y: wheel_direction.y, z: wheel_direction.z },
wheel_axle: { x: wheel_axle.x, y: wheel_axle.y, z: wheel_axle.z },
suspension_rest_length: suspension_rest_length,
wheel_radius: wheel_radius,
is_front_wheel: is_front_wheel,
tuning: tuning
});
}
}, {
key: 'setSteering',
value: function setSteering(amount, wheel) {
if (wheel !== undefined && this.wheels[wheel] !== undefined) this.world.execute('setSteering', { id: this._physijs.id, wheel: wheel, steering: amount });else if (this.wheels.length > 0) {
for (var i = 0; i < this.wheels.length; i++) {
this.world.execute('setSteering', { id: this._physijs.id, wheel: i, steering: amount });
}
}
}
}, {
key: 'setBrake',
value: function setBrake(amount, wheel) {
if (wheel !== undefined && this.wheels[wheel] !== undefined) this.world.execute('setBrake', { id: this._physijs.id, wheel: wheel, brake: amount });else if (this.wheels.length > 0) {
for (var i = 0; i < this.wheels.length; i++) {
this.world.execute('setBrake', { id: this._physijs.id, wheel: i, brake: amount });
}
}
}
}, {
key: 'applyEngineForce',
value: function applyEngineForce(amount, wheel) {
if (wheel !== undefined && this.wheels[wheel] !== undefined) this.world.execute('applyEngineForce', { id: this._physijs.id, wheel: wheel, force: amount });else if (this.wheels.length > 0) {
for (var i = 0; i < this.wheels.length; i++) {
this.world.execute('applyEngineForce', { id: this._physijs.id, wheel: i, force: amount });
}
}
}
}]);
return Vehicle;
}();
var _class, _temp2;
var WorldModuleBase = (_temp2 = _class = function (_Eventable) {
inherits(WorldModuleBase, _Eventable);
function WorldModuleBase(options) {
classCallCheck(this, WorldModuleBase);
var _this = possibleConstructorReturn(this, (WorldModuleBase.__proto__ || Object.getPrototypeOf(WorldModuleBase)).call(this));
_this.bridge = {
onAdd: function onAdd(component, self) {
if (component.use('physics')) return self.defer(self.onAddCallback.bind(self), [component]);
return;
},
onRemove: function onRemove(component, self) {
if (component.use('physics')) return self.defer(self.onRemoveCallback.bind(self), [component]);
return;
}
};
_this.options = Object.assign(WorldModuleBase.defaults, options);
_this.objects = {};
_this.vehicles = {};
_this.constraints = {};
_this.isSimulating = false;
_this.getObjectId = function () {
var id = 1;
return function () {
return id++;
};
}();
return _this;
}
createClass(WorldModuleBase, [{
key: 'setup',
value: function setup() {
var _this2 = this;
this.receive(function (event) {
var _temp = void 0,
data = event.data;
if (data instanceof ArrayBuffer && data.byteLength !== 1) // byteLength === 1 is the worker making a SUPPORT_TRANSFERABLE test
data = new Float32Array(data);
if (data instanceof Float32Array) {
// transferable object
switch (data[0]) {
case MESSAGE_TYPES.WORLDREPORT:
_this2.updateScene(data);
break;
case MESSAGE_TYPES.SOFTREPORT:
_this2.updateSoftbodies(data);
break;
case MESSAGE_TYPES.COLLISIONREPORT:
_this2.updateCollisions(data);
break;
case MESSAGE_TYPES.VEHICLEREPORT:
_this2.updateVehicles(data);
break;
case MESSAGE_TYPES.CONSTRAINTREPORT:
_this2.updateConstraints(data);
break;
default:
}
} else if (data.cmd) {
// non-transferable object
switch (data.cmd) {
case 'objectReady':
_temp = data.params;
if (_this2.objects[_temp]) _this2.objects[_temp].dispatchEvent('ready');
break;
case 'worldReady':
_this2.dispatchEvent('ready');
break;
case 'ammoLoaded':
_this2.dispatchEvent('loaded');
// console.log("Physics loading time: " + (performance.now() - start) + "ms");
break;
case 'vehicle':
window.test = data;
break;
default:
// Do nothing, just show the message
console.debug('Received: ' + data.cmd);
console.dir(data.params);
break;
}
} else {
switch (data[0]) {
case MESSAGE_TYPES.WORLDREPORT:
_this2.updateScene(data);
break;
case MESSAGE_TYPES.COLLISIONREPORT:
_this2.updateCollisions(data);
break;
case MESSAGE_TYPES.VEHICLEREPORT:
_this2.updateVehicles(data);
break;
case MESSAGE_TYPES.CONSTRAINTREPORT:
_this2.updateConstraints(data);
break;
default:
}
}
});
}
}, {
key: 'updateScene',
value: function updateScene(info) {
var index = info[1];
while (index--) {
var offset = 2 + index * REPORT_ITEMSIZE;
var object = this.objects[info[offset]];
var component = object.component;
var data = component.use('physics').data;
if (object === null) continue;
if (component.__dirtyPosition === false) {
object.position.set(info[offset + 1], info[offset + 2], info[offset + 3]);
component.__dirtyPosition = false;
}
if (component.__dirtyRotation === false) {
object.quaternion.set(info[offset + 4], info[offset + 5], info[offset + 6], info[offset + 7]);
component.__dirtyRotation = false;
}
data.linearVelocity.set(info[offset + 8], info[offset + 9], info[offset + 10]);
data.angularVelocity.set(info[offset + 11], info[offset + 12], info[offset + 13]);
}
if (this.SUPPORT_TRANSFERABLE) this.send(info.buffer, [info.buffer]); // Give the typed array back to the worker
this.isSimulating = false;
this.dispatchEvent('update');
}
}, {
key: 'updateSoftbodies',
value: function updateSoftbodies(info) {
var index = info[1],
offset = 2;
while (index--) {
var size = info[offset + 1];
var object = this.objects[info[offset]];
if (object === null) continue;
var data = object.component.use('physics').data;
var attributes = object.geometry.attributes;
var volumePositions = attributes.position.array;
var offsetVert = offset + 2;
// console.log(data.id);
if (!data.isSoftBodyReset) {
object.position.set(0, 0, 0);
object.quaternion.set(0, 0, 0, 0);
data.isSoftBodyReset = true;
}
if (data.type === "softTrimesh") {
var volumeNormals = attributes.normal.array;
for (var i = 0; i < size; i++) {
var offs = offsetVert + i * 18;
var x1 = info[offs];
var y1 = info[offs + 1];
var z1 = info[offs + 2];
var nx1 = info[offs + 3];
var ny1 = info[offs + 4];
var nz1 = info[offs + 5];
var x2 = info[offs + 6];
var y2 = info[offs + 7];
var z2 = info[offs + 8];
var nx2 = info[offs + 9];
var ny2 = info[offs + 10];
var nz2 = info[offs + 11];
var x3 = info[offs + 12];
var y3 = info[offs + 13];
var z3 = info[offs + 14];
var nx3 = info[offs + 15];
var ny3 = info[offs + 16];
var nz3 = info[offs + 17];
var i9 = i * 9;
volumePositions[i9] = x1;
volumePositions[i9 + 1] = y1;
volumePositions[i9 + 2] = z1;
volumePositions[i9 + 3] = x2;
volumePositions[i9 + 4] = y2;
volumePositions[i9 + 5] = z2;
volumePositions[i9 + 6] = x3;
volumePositions[i9 + 7] = y3;
volumePositions[i9 + 8] = z3;
volumeNormals[i9] = nx1;
volumeNormals[i9 + 1] = ny1;
volumeNormals[i9 + 2] = nz1;
volumeNormals[i9 + 3] = nx2;
volumeNormals[i9 + 4] = ny2;
volumeNormals[i9 + 5] = nz2;
volumeNormals[i9 + 6] = nx3;
volumeNormals[i9 + 7] = ny3;
volumeNormals[i9 + 8] = nz3;
}
attributes.normal.needsUpdate = true;
offset += 2 + size * 18;
} else if (data.type === "softRopeMesh") {
for (var _i = 0; _i < size; _i++) {
var _offs = offsetVert + _i * 3;
var x = info[_offs];
var y = info[_offs + 1];
var z = info[_offs + 2];
volumePositions[_i * 3] = x;
volumePositions[_i * 3 + 1] = y;
volumePositions[_i * 3 + 2] = z;
}
offset += 2 + size * 3;
} else {
var _volumeNormals = attributes.normal.array;
for (var _i2 = 0; _i2 < size; _i2++) {
var _offs2 = offsetVert + _i2 * 6;
var _x = info[_offs2];
var _y = info[_offs2 + 1];
var _z = info[_offs2 + 2];
var nx = info[_offs2 + 3];
var ny = info[_offs2 + 4];
var nz = info[_offs2 + 5];
volumePositions[_i2 * 3] = _x;
volumePositions[_i2 * 3 + 1] = _y;
volumePositions[_i2 * 3 + 2] = _z;
// FIXME: Normals are pointed to look inside;
_volumeNormals[_i2 * 3] = nx;
_volumeNormals[_i2 * 3 + 1] = ny;
_volumeNormals[_i2 * 3 + 2] = nz;
}
attributes.normal.needsUpdate = true;
offset += 2 + size * 6;
}
attributes.position.needsUpdate = true;
}
// if (this.SUPPORT_TRANSFERABLE)
// this.send(info.buffer, [info.buffer]); // Give the typed array back to the worker
this.isSimulating = false;
}
}, {
key: 'updateVehicles',
value: function updateVehicles(data) {
var vehicle = void 0,
wheel = void 0;
for (var i = 0; i < (data.length - 1) / VEHICLEREPORT_ITEMSIZE; i++) {
var offset = 1 + i * VEHICLEREPORT_ITEMSIZE;
vehicle = this.vehicles[data[offset]];
if (vehicle === null) continue;
wheel = vehicle.wheels[data[offset + 1]];
wheel.position.set(data[offset + 2], data[offset + 3], data[offset + 4]);
wheel.quaternion.set(data[offset + 5], data[offset + 6], data[offset + 7], data[offset + 8]);
}
if (this.SUPPORT_TRANSFERABLE) this.send(data.buffer, [data.buffer]); // Give the typed array back to the worker
}
}, {
key: 'updateConstraints',
value: function updateConstraints(data) {
var constraint = void 0,
object = void 0;
for (var i = 0; i < (data.length - 1) / CONSTRAINTREPORT_ITEMSIZE; i++) {
var offset = 1 + i * CONSTRAINTREPORT_ITEMSIZE;
constraint = this.constraints[data[offset]];
object = this.objects[data[offset + 1]];
if (constraint === undefined || object === undefined) continue;
temp1Vector3.set(data[offset + 2], data[offset + 3], data[offset + 4]);
temp1Matrix4.extractRotation(object.matrix);
temp1Vector3.applyMatrix4(temp1Matrix4);
constraint.positiona.addVectors(object.position, temp1Vector3);
constraint.appliedImpulse = data[offset + 5];
}
if (this.SUPPORT_TRANSFERABLE) this.send(data.buffer, [data.buffer]); // Give the typed array back to the worker
}
}, {
key: 'updateCollisions',
value: function updateCollisions(info) {
/**
* #TODO
* This is probably the worst way ever to handle collisions. The inherent evilness is a residual
* effect from the previous version's evilness which mutated when switching to transferable objects.
*
* If you feel inclined to make this better, please do so.
*/
var collisions = {},
normal_offsets = {};
// Build collision manifest
for (var i = 0; i < info[1]; i++) {
var offset = 2 + i * COLLISIONREPORT_ITEMSIZE;
var object = info[offset];
var object2 = info[offset + 1];
normal_offsets[object + '-' + object2] = offset + 2;
normal_offsets[object2 + '-' + object] = -1 * (offset + 2);
// Register collisions for both the object colliding and the object being collided with
if (!collisions[object]) collisions[object] = [];
collisions[object].push(object2);
if (!collisions[object2]) collisions[object2] = [];
collisions[object2].push(object);
}
// Deal with collisions
for (var id1 in this.objects) {
if (!this.objects.hasOwnProperty(id1)) continue;
var _object = this.objects[id1];
var component = _object.component;
var data = component.use('physics').data;
if (_object === null) continue;
// If object touches anything, ...
if (collisions[id1]) {
// Clean up touches array
for (var j = 0; j < data.touches.length; j++) {
if (collisions[id1].indexOf(data.touches[j]) === -1) data.touches.splice(j--, 1);
}
// Handle each colliding object
for (var _j = 0; _j < collisions[id1].length; _j++) {
var id2 = collisions[id1][_j];
var _object2 = this.objects[id2];
if (_object2) {
var component2 = _object2.component;
var data2 = component2.use('physics').data;
// If object was not already touching object2, notify object
if (data.touches.indexOf(id2) === -1) {
data.touches.push(id2);
var vel = component.use('physics').getLinearVelocity();
var vel2 = component2.use('physics').getLinearVelocity();
temp1Vector3.subVectors(vel, vel2);
var temp1 = temp1Vector3.clone();
temp1Vector3.subVectors(vel, vel2);
var temp2 = temp1Vector3.clone();
var normal_offset = normal_offsets[data.id + '-' + data2.id];
if (normal_offset > 0) {
temp1Vector3.set(-info[normal_offset], -info[normal_offset + 1], -info[normal_offset + 2]);
} else {
normal_offset *= -1;
temp1Vector3.set(info[normal_offset], info[normal_offset + 1], info[normal_offset + 2]);
}
component.emit('collision', _object2, temp1, temp2, temp1Vector3);
}
}
}
} else data.touches.length = 0; // not touching other objects
}
this.collisions = collisions;
if (this.SUPPORT_TRANSFERABLE) this.send(info.buffer, [info.buffer]); // Give the typed array back to the worker
}
}, {
key: 'addConstraint',
value: function addConstraint(constraint, show_marker) {
constraint.id = this.getObjectId();
this.constraints[constraint.id] = constraint;
constraint.worldModule = this;
this.execute('addConstraint', constraint.getDefinition());
if (show_marker) {
var marker = void 0;
switch (constraint.type) {
case 'point':
marker = new three.Mesh(new three.SphereGeometry(1.5), new three.MeshNormalMaterial());
marker.position.copy(constraint.positiona);
this.objects[constraint.objecta].add(marker);
break;
case 'hinge':
marker = new three.Mesh(new three.SphereGeometry(1.5), new three.MeshNormalMaterial());
marker.position.copy(constraint.positiona);
this.objects[constraint.objecta].add(marker);
break;
case 'slider':
marker = new three.Mesh(new three.BoxGeometry(10, 1, 1), new three.MeshNormalMaterial());
marker.position.copy(constraint.positiona);
// This rotation isn't right if all three axis are non-0 values
// TODO: change marker's rotation order to ZYX
marker.rotation.set(constraint.axis.y, // yes, y and
constraint.axis.x, // x axis are swapped
constraint.axis.z);
this.objects[constraint.objecta].add(marker);
break;
case 'conetwist':
marker = new three.Mesh(new three.SphereGeometry(1.5), new three.MeshNormalMaterial());
marker.position.copy(constraint.positiona);
this.objects[constraint.objecta].add(marker);
break;
case 'dof':
marker = new three.Mesh(new three.SphereGeometry(1.5), new three.MeshNormalMaterial());
marker.position.copy(constraint.positiona);
this.objects[constraint.objecta].add(marker);
break;
default:
}
}
return constraint;
}
}, {
key: 'onSimulationResume',
value: function onSimulationResume() {
this.execute('onSimulationResume', {});
}
}, {
key: 'removeConstraint',
value: function removeConstraint(constraint) {
if (this.constraints[constraint.id] !== undefined) {
this.execute('removeConstraint', { id: constraint.id });
delete this.constraints[constraint.id];
}
}
}, {
key: 'execute',
value: function execute(cmd, params) {
this.send({ cmd: cmd, params: params });
}
}, {
key: 'onAddCallback',
value: function onAddCallback(component) {
var object = component.native;
var data = object.component.use('physics').data;
if (data) {
component.manager.set('module:world', this);
data.id = this.getObjectId();
object.component.use('physics').data = data;
if (object instanceof Vehicle) {
this.onAddCallback(object.mesh);
this.vehicles[data.id] = object;
this.execute('addVehicle', data);
} else {
component.__dirtyPosition = false;
component.__dirtyRotation = false;
this.objects[data.id] = object;
if (object.children.length) {
data.children = [];
addObjectChildren(object, object);
}
// object.quaternion.setFromEuler(object.rotation);
//
// console.log(object.component);
// console.log(object.rotation);
// Object starting position + rotation
data.position = {
x: object.position.x,
y: object.position.y,
z: object.position.z
};
data.rotation = {
x: object.quaternion.x,
y: object.quaternion.y,
z: object.quaternion.z,
w: object.quaternion.w
};
if (data.width) data.width *= object.scale.x;
if (data.height) data.height *= object.scale.y;
if (data.depth) data.depth *= object.scale.z;
this.execute('addObject', data);
}
component.emit('physics:added');
}
}
}, {
key: 'onRemoveCallback',
value: function onRemoveCallback(component) {
var object = component.native;
if (object instanceof Vehicle) {
this.execute('removeVehicle', { id: object._physijs.id });
while (object.wheels.length) {
this.remove(object.wheels.pop());
}this.remove(object.mesh);
this.vehicles[object._physijs.id] = null;
} else {
// Mesh.prototype.remove.call(this, object);
if (object._physijs) {
component.manager.remove('module:world');
this.objects[object._physijs.id] = null;
this.execute('removeObject', { id: object._physijs.id });
}
}
}
}, {
key: 'defer',
value: function defer(func, args) {
var _this3 = this;
return new Promise(function (resolve) {
if (_this3.isLoaded) {
func.apply(undefined, toConsumableArray(args));
resolve();
} else _this3.loader.then(function () {
func.apply(undefined, toConsumableArray(args));
resolve();
});
});
}
}, {
key: 'manager',
value: function manager(_manager) {
_manager.define('physics');
_manager.set('physicsWorker', this.worker);
}
}, {
key: 'integrate',
value: function integrate(self) {
var _this4 = this;
// ...
this.setFixedTimeStep = function (fixedTimeStep) {
if (fixedTimeStep) self.execute('setFixedTimeStep', fixedTimeStep);
};
this.setGravity = function (gravity) {
if (gravity) self.execute('setGravity', gravity);
};
this.addConstraint = self.addConstraint.bind(self);
this.simulate = function (timeStep, maxSubSteps) {
if (self._stats) self._stats.begin();
if (self.isSimulating) return false;
self.isSimulating = true;
for (var object_id in self.objects) {
if (!self.objects.hasOwnProperty(object_id)) continue;
var object = self.objects[object_id];
var component = object.component;
var data = component.use('physics').data;
if (object !== null && (component.__dirtyPosition || component.__dirtyRotation)) {
var update = { id: data.id };
if (component.__dirtyPosition) {
update.pos = {
x: object.position.x,
y: object.position.y,
z: object.position.z
};
if (data.isSoftbody) object.position.set(0, 0, 0);
component.__dirtyPosition = false;
}
if (component.__dirtyRotation) {
update.quat = {
x: object.quaternion.x,
y: object.quaternion.y,
z: object.quaternion.z,
w: object.quaternion.w
};
if (data.isSoftbody) object.rotation.set(0, 0, 0);
component.__dirtyRotation = false;
}
self.execute('updateTransform', update);
}
}
self.execute('simulate', { timeStep: timeStep, maxSubSteps: maxSubSteps });
if (self._stats) self._stats.end();
return true;
};
// const simulateProcess = (t) => {
// window.requestAnimationFrame(simulateProcess);
// this.simulate(1/60, 1); // delta, 1
// }
// simulateProcess();
self.loader.then(function () {
self.simulateLoop = new whs.Loop(function (clock) {
_this4.simulate(clock.getDelta(), 1); // delta, 1
});
self.simulateLoop.start(_this4);
console.log(self.options.gravity);
_this4.setGravity(self.options.gravity);
});
}
}]);
return WorldModuleBase;
}(Eventable), _class.defaults = {
fixedTimeStep: 1 / 60,
rateLimit: true,
ammo: "",
softbody: false,
gravity: new three.Vector3(0, -100, 0)
}, _temp2);
var TARGET = typeof Symbol === 'undefined' ? '__target' : Symbol(),
SCRIPT_TYPE = 'application/javascript',
BlobBuilder = window.BlobBuilder || window.WebKitBlobBuilder || window.MozBlobBuilder || window.MSBlobBuilder,
URL = window.URL || window.webkitURL,
Worker = window.Worker;
/**
* Returns a wrapper around Web Worker code that is constructible.
*
* @function shimWorker
*
* @param { String } filename The name of the file
* @param { Function } fn Function wrapping the code of the worker
*/
function shimWorker(filename, fn) {
return function ShimWorker(forceFallback) {
var o = this;
if (!fn) {
return new Worker(filename);
} else if (Worker && !forceFallback) {
// Convert the function's inner code to a string to construct the worker
var source = fn.toString().replace(/^function.+?{/, '').slice(0, -1),
objURL = createSourceObject(source);
this[TARGET] = new Worker(objURL);
URL.revokeObjectURL(objURL);
return this[TARGET];
} else {
var selfShim = {
postMessage: function postMessage(m) {
if (o.onmessage) {
setTimeout(function () {
o.onmessage({ data: m, target: selfShim });
});
}
}
};
fn.call(selfShim);
this.postMessage = function (m) {
setTimeout(function () {
selfShim.onmessage({ data: m, target: o });
});
};
this.isThisThread = true;
}
};
}
// Test Worker capabilities
if (Worker) {
var testWorker,
objURL = createSourceObject('self.onmessage = function () {}'),
testArray = new Uint8Array(1);
try {
// No workers via blobs in Edge 12 and IE 11 and lower :(
if (/(?:Trident|Edge)\/(?:[567]|12)/i.test(navigator.userAgent)) {
throw new Error('Not available');
}
testWorker = new Worker(objURL);
// Native browser on some Samsung devices throws for transferables, let's detect it
testWorker.postMessage(testArray, [testArray.buffer]);
} catch (e) {
Worker = null;
} finally {
URL.revokeObjectURL(objURL);
if (testWorker) {
testWorker.terminate();
}
}
}
function createSourceObject(str) {
try {
return URL.createObjectURL(new Blob([str], { type: SCRIPT_TYPE }));
} catch (e) {
var blob = new BlobBuilder();
blob.append(str);
return URL.createObjectURL(blob.getBlob(type));
}
}
var PhysicsWorker = new shimWorker("../worker.js", function (window, document) {
var self = this;
function Events(target) {
var events = {},
empty = [];
target = target || this;
/**
* On: listen to events
*/
target.on = function (type, func, ctx) {
(events[type] = events[type] || []).push([func, ctx]);
return target;
};
/**
* Off: stop listening to event / specific callback
*/
target.off = function (type, func) {
type || (events = {});
var list = events[type] || empty,
i = list.length = func ? list.length : 0;
while (i--) {
func == list[i][0] && list.splice(i, 1);
}return target;
};
/**
* Emit: send event, callbacks will be triggered
*/
target.emit = function (type) {
var e = events[type] || empty,
list = e.length > 0 ? e.slice(0, e.length) : e,
i = 0,
j;
while (j = list[i++]) {
j[0].apply(j[1], empty.slice.call(arguments, 1));
}return target;
};
}
var insideWorker = !self.document;
if (!insideWorker) self = new Events();
var send = insideWorker ? self.webkitPostMessage || self.postMessage : function (data) {
self.emit('message', { data: data });
};
self.send = send;
var SUPPORT_TRANSFERABLE = void 0;
if (insideWorker) {
var ab = new ArrayBuffer(1);
send(ab, [ab]);
SUPPORT_TRANSFERABLE = ab.byteLength === 0;
}
var MESSAGE_TYPES = {
WORLDREPORT: 0,
COLLISIONREPORT: 1,
VEHICLEREPORT: 2,
CONSTRAINTREPORT: 3,
SOFTREPORT: 4
};
// temp variables
var _object = void 0,
_vector = void 0,
_transform = void 0,
_transform_pos = void 0,
_softbody_enabled = false,
_num_objects = 0,
_num_rigidbody_objects = 0,
_num_softbody_objects = 0,
_num_wheels = 0,
_num_constraints = 0,
_softbody_report_size = 0,
// world variables
fixedTimeStep = void 0,
world = void 0,
_vec3_1 = void 0,
_vec3_2 = void 0,
_vec3_3 = void 0,
_quat = void 0;
// private cache
var public_functions = {},
_objects = [],
_vehicles = [],
_constraints = [],
_objects_ammo = {},
_object_shapes = {},
// The following objects are to track objects that ammo.js doesn't clean
// up. All are cleaned up when they're corresponding body is destroyed.
// Unfortunately, it's very difficult to get at these objects from the
// body, so we have to track them ourselves.
_motion_states = {},
// Don't need to worry about it for cached shapes.
_noncached_shapes = {},
// A body with a compound shape always has a regular shape as well, so we
// have track them separately.
_compound_shapes = {};
// object reporting
var REPORT_CHUNKSIZE = void 0,
// report array is increased in increments of this chunk size
worldreport = void 0,
softreport = void 0,
collisionreport = void 0,
vehiclereport = void 0,
constraintreport = void 0;
var WORLDREPORT_ITEMSIZE = 14,
// how many float values each reported item needs
COLLISIONREPORT_ITEMSIZE = 5,
// one float for each object id, and a Vec3 contact normal
VEHICLEREPORT_ITEMSIZE = 9,
// vehicle id, wheel index, 3 for position, 4 for rotation
CONSTRAINTREPORT_ITEMSIZE = 6; // constraint id, offset object, offset, applied impulse
var getShapeFromCache = function getShapeFromCache(cache_key) {
if (_object_shapes[cache_key] !== undefined) return _object_shapes[cache_key];
return null;
};
var setShapeCache = function setShapeCache(cache_key, shape) {
_object_shapes[cache_key] = shape;
};
var createShape = function createShape(description) {
var shape = void 0;
_transform.setIdentity();
switch (description.type) {
case 'compound':
{
shape = new Ammo.btCompoundShape();
break;
}
case 'plane':
{
var cache_key = 'plane_' + description.normal.x + '_' + description.normal.y + '_' + description.normal.z;
if ((shape = getShapeFromCache(cache_key)) === null) {
_vec3_1.setX(description.normal.x);
_vec3_1.setY(description.normal.y);
_vec3_1.setZ(description.normal.z);
shape = new Ammo.btStaticPlaneShape(_vec3_1, 0);
setShapeCache(cache_key, shape);
}
break;
}
case 'box':
{
var _cache_key = 'box_' + description.width + '_' + description.height + '_' + description.depth;
if ((shape = getShapeFromCache(_cache_key)) === null) {
_vec3_1.setX(description.width / 2);
_vec3_1.setY(description.height / 2);
_vec3_1.setZ(description.depth / 2);
shape = new Ammo.btBoxShape(_vec3_1);
setShapeCache(_cache_key, shape);
}
break;
}
case 'sphere':
{
var _cache_key2 = 'sphere_' + description.radius;
if ((shape = getShapeFromCache(_cache_key2)) === null) {
shape = new Ammo.btSphereShape(description.radius);
setShapeCache(_cache_key2, shape);
}
break;
}
case 'cylinder':
{
var _cache_key3 = 'cylinder_' + description.width + '_' + description.height + '_' + description.depth;
if ((shape = getShapeFromCache(_cache_key3)) === null) {
_vec3_1.setX(description.width / 2);
_vec3_1.setY(description.height / 2);
_vec3_1.setZ(description.depth / 2);
shape = new Ammo.btCylinderShape(_vec3_1);
setShapeCache(_cache_key3, shape);
}
break;
}
case 'capsule':
{
var _cache_key4 = 'capsule_' + description.radius + '_' + description.height;
if ((shape = getShapeFromCache(_cache_key4)) === null) {
// In Bullet, capsule height excludes the end spheres
shape = new Ammo.btCapsuleShape(description.radius, description.height - 2 * description.radius);
setShapeCache(_cache_key4, shape);
}
break;
}
case 'cone':
{
var _cache_key5 = 'cone_' + description.radius + '_' + description.height;
if ((shape = getShapeFromCache(_cache_key5)) === null) {
shape = new Ammo.btConeShape(description.radius, description.height);
setShapeCache(_cache_key5, shape);
}
break;
}
case 'concave':
{
var triangle_mesh = new Ammo.btTriangleMesh();
if (!description.data.length) return false;
var data = description.data;
for (var i = 0; i < data.length / 9; i++) {
_vec3_1.setX(data[i * 9]);
_vec3_1.setY(data[i * 9 + 1]);
_vec3_1.setZ(data[i * 9 + 2]);
_vec3_2.setX(data[i * 9 + 3]);
_vec3_2.setY(data[i * 9 + 4]);
_vec3_2.setZ(data[i * 9 + 5]);
_vec3_3.setX(data[i * 9 + 6]);
_vec3_3.setY(data[i * 9 + 7]);
_vec3_3.setZ(data[i * 9 + 8]);
triangle_mesh.addTriangle(_vec3_1, _vec3_2, _vec3_3, false);
}
shape = new Ammo.btBvhTriangleMeshShape(triangle_mesh, true, true);
_noncached_shapes[description.id] = shape;
break;
}
case 'convex':
{
shape = new Ammo.btConvexHullShape();
var _data = description.data;
for (var _i = 0; _i < _data.length / 3; _i++) {
_vec3_1.setX(_data[_i * 3]);
_vec3_1.setY(_data[_i * 3 + 1]);
_vec3_1.setZ(_data[_i * 3 + 2]);
shape.addPoint(_vec3_1);
}
_noncached_shapes[description.id] = shape;
break;
}
case 'heightfield':
{
var xpts = description.xpts,
ypts = description.ypts,
points = description.points,
ptr = Ammo._malloc(4 * xpts * ypts);
for (var _i2 = 0, p = 0, p2 = 0; _i2 < xpts; _i2++) {
for (var j = 0; j < ypts; j++) {
Ammo.HEAPF32[ptr + p2 >> 2] = points[p];
p++;
p2 += 4;
}
}
shape = new Ammo.btHeightfieldTerrainShape(description.xpts, description.ypts, ptr, 1, -description.absMaxHeight, description.absMaxHeight, 1, 'PHY_FLOAT', false);
_noncached_shapes[description.id] = shape;
break;
}
default:
// Not recognized
return;
}
return shape;
};
var createSoftBody = function createSoftBody(description) {
var body = void 0;
var softBodyHelpers = new Ammo.btSoftBodyHelpers();
switch (description.type) {
case 'softTrimesh':
{
if (!description.aVertices.length) return false;
body = softBodyHelpers.CreateFromTriMesh(world.getWorldInfo(), description.aVertices, description.aIndices, description.aIndices.length / 3, false);
break;
}
case 'softClothMesh':
{
var cr = description.corners;
body = softBodyHelpers.CreatePatch(world.getWorldInfo(), new Ammo.btVector3(cr[0], cr[1], cr[2]), new Ammo.btVector3(cr[3], cr[4], cr[5]), new Ammo.btVector3(cr[6], cr[7], cr[8]), new Ammo.btVector3(cr[9], cr[10], cr[11]), description.segments[0], description.segments[1], 0, true);
break;
}
case 'softRopeMesh':
{
var data = description.data;
body = softBodyHelpers.CreateRope(world.getWorldInfo(), new Ammo.btVector3(data[0], data[1], data[2]), new Ammo.btVector3(data[3], data[4], data[5]), data[6] - 1, 0);
break;
}
default:
// Not recognized
return;
}
return body;
};
public_functions.init = function () {
var params = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};
if (params.noWorker) {
window.Ammo = new params.ammo();
public_functions.makeWorld(params);
return;
}
if (params.wasmBuffer) {
importScripts(params.ammo);
self.Ammo = new loadAmmoFromBinary(params.wasmBuffer)();
send({ cmd: 'ammoLoaded' });
public_functions.makeWorld(params);
} else {
importScripts(params.ammo);
send({ cmd: 'ammoLoaded' });
self.Ammo = new Ammo();
public_functions.makeWorld(params);
}
};
public_functions.makeWorld = function () {
var params = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};
_transform = new Ammo.btTransform();
_transform_pos = new Ammo.btTransform();
_vec3_1 = new Ammo.btVector3(0, 0, 0);
_vec3_2 = new Ammo.btVector3(0, 0, 0);
_vec3_3 = new Ammo.btVector3(0, 0, 0);
_quat = new Ammo.btQuaternion(0, 0, 0, 0);
REPORT_CHUNKSIZE = params.reportsize || 50;
if (SUPPORT_TRANSFERABLE) {
// Transferable messages are supported, take advantage of them with TypedArrays
worldreport = new Float32Array(2 + REPORT_CHUNKSIZE * WORLDREPORT_ITEMSIZE); // message id + # of objects to report + chunk size * # of values per object
collisionreport = new Float32Array(2 + REPORT_CHUNKSIZE * COLLISIONREPORT_ITEMSIZE); // message id + # of collisions to report + chunk size * # of values per object
vehiclereport = new Float32Array(2 + REPORT_CHUNKSIZE * VEHICLEREPORT_ITEMSIZE); // message id + # of vehicles to report + chunk size * # of values per object
constraintreport = new Float32Array(2 + REPORT_CHUNKSIZE * CONSTRAINTREPORT_ITEMSIZE); // message id + # of constraints to report + chunk size * # of values per object
} else {
// Transferable messages are not supported, send data as normal arrays
worldreport = [];
collisionreport = [];
vehiclereport = [];
constraintreport = [];
}
worldreport[0] = MESSAGE_TYPES.WORLDREPORT;
collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;
vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;
constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;
var collisionConfiguration = params.softbody ? new Ammo.btSoftBodyRigidBodyCollisionConfiguration() : new Ammo.btDefaultCollisionConfiguration(),
dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration),
solver = new Ammo.btSequentialImpulseConstraintSolver();
var broadphase = void 0;
if (!params.broadphase) params.broadphase = { type: 'dynamic' };
// TODO!!!
/* if (params.broadphase.type === 'sweepprune') {
extend(params.broadphase, {
aabbmin: {
x: -50,
y: -50,
z: -50
},
aabbmax: {
x: 50,
y: 50,
z: 50
},
});
}*/
switch (params.broadphase.type) {
case 'sweepprune':
_vec3_1.setX(params.broadphase.aabbmin.x);
_vec3_1.setY(params.broadphase.aabbmin.y);
_vec3_1.setZ(params.broadphase.aabbmin.z);
_vec3_2.setX(params.broadphase.aabbmax.x);
_vec3_2.setY(params.broadphase.aabbmax.y);
_vec3_2.setZ(params.broadphase.aabbmax.z);
broadphase = new Ammo.btAxisSweep3(_vec3_1, _vec3_2);
break;
case 'dynamic':
default:
broadphase = new Ammo.btDbvtBroadphase();
break;
}
world = params.softbody ? new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration, new Ammo.btDefaultSoftBodySolver()) : new Ammo.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
fixedTimeStep = params.fixedTimeStep;
if (params.softbody) _softbody_enabled = true;
send({ cmd: 'worldReady' });
};
public_functions.setFixedTimeStep = function (description) {
fixedTimeStep = description;
};
public_functions.setGravity = function (description) {
_vec3_1.setX(description.x);
_vec3_1.setY(description.y);
_vec3_1.setZ(description.z);
world.setGravity(_vec3_1);
};
public_functions.appendAnchor = function (description) {
_objects[description.obj].appendAnchor(description.node, _objects[description.obj2], description.collisionBetweenLinkedBodies, description.influence);
};
public_functions.linkNodes = function (description) {
var self_body = _objects[description.self];
var other_body = _objects[description.body];
var self_node = self_body.get_m_nodes().at(description.n1);
var other_node = other_body.get_m_nodes().at(description.n2);
var self_vec = self_node.get_m_x();
var other_vec = other_node.get_m_x();
var force_x = other_vec.x() - self_vec.x();
var force_y = other_vec.y() - self_vec.y();
var force_z = other_vec.z() - self_vec.z();
// var modifier = 30;
var cached_distance = void 0,
linked = false;
var _loop = setInterval(function () {
force_x = other_vec.x() - self_vec.x();
force_y = other_vec.y() - self_vec.y();
force_z = other_vec.z() - self_vec.z();
var distance = Math.sqrt(force_x * force_x + force_y * force_y + force_z * force_z);
if (cached_distance && !linked && cached_distance < distance) {
// cached_distance && !linked && cached_distance < distance
linked = true;
// let self_vel = self_node.get_m_v();
//
// _vec3_1.setX(-self_vel.x());
// _vec3_1.setY(-self_vel.y());
// _vec3_1.setZ(-self_vel.z());
//
// let other_vel = other_node.get_m_v();
//
// _vec3_2.setX(-other_vel.x());
// _vec3_2.setY(-other_vel.y());
// _vec3_2.setZ(-other_vel.z());
console.log('link!');
_vec3_1.setX(0);
_vec3_1.setY(0);
_vec3_1.setZ(0);
self_body.setVelocity(_vec3_1);
other_body.setVelocity(_vec3_1);
// self_body.addVelocity(_vec3_1);
// other_body.addVelocity(_vec3_2);
// self_relative_x = self_node.x();
// self_relative_y = self_node.y();
// self_relative_z = self_node.z();
//
// other_relative_x = other_node.x();
// other_relative_y = other_node.y();
// other_relative_z = other_node.z();
// self_relative = new Ammo.btVector3();
// self_relative.setX();
// console.log('link!');
// self_body.appendAnchor(description.n1, connector, true, 0.5);
// other_body.appendAnchor(description.n2, connector, true, 0.5);
// clearInterval(_loop);
// _vec3_1.setX(0);
// _vec3_1.setY(0);
// _vec3_1.setZ(0);
// self_body.setVelocity(_vec3_1);
// other_body.setVelocity(_vec3_1);
// other_body.addForce(
// _vec3_2,
// description.n2
// );
// description.modifier *= 1.6;
}
var modifer2 = linked ? 40 : 1;
force_x *= Math.max(distance, 1) * description.modifier * modifer2;
force_y *= Math.max(distance, 1) * description.modifier * modifer2;
force_z *= Math.max(distance, 1) * description.modifier * modifer2;
_vec3_1.setX(force_x);
_vec3_1.setY(force_y);
_vec3_1.setZ(force_z);
_vec3_2.setX(-force_x);
_vec3_2.setY(-force_y);
_vec3_2.setZ(-force_z);
self_body.addVelocity(_vec3_1, description.n1);
other_body.addVelocity(_vec3_2, description.n2);
// } else {
// // self_relative_x = null;
// }
// if (self_relative_x) {
// _vec3_1.setX(self_relative_x - self_node.x());
// _vec3_1.setY(self_relative_y - self_node.y());
// _vec3_1.setZ(self_relative_z - self_node.z());
//
// _vec3_2.setX(other_relative_x - other_node.x());
// _vec3_2.setY(other_relative_y - other_node.y());
// _vec3_2.setZ(other_relative_z - other_node.z());
// } else {
// }
cached_distance = distance;
}, 10);
};
public_functions.appendLink = function (description) {
// console.log(Ammo);
// console.log(new Ammo.Material());
// var _mat = new Ammo.Material();
//
// _mat.set_m_kAST(0);
// _mat.set_m_kLST(0);
// _mat.set_m_kVST(0);
//
// _objects[description.self].appendLink(
// description.n1,
// description.n2,
// _mat,
// false
// );
_vec3_1.setX(1000);
_vec3_1.setY(0);
_vec3_1.setZ(0);
_objects[description.self].addForce(_vec3_1, description.n1);
};
public_functions.appendLinearJoint = function (description) {
// console.log('Ammo', Ammo);
var specs = new Ammo.Specs();
var _pos = description.specs.position;
specs.set_position(new Ammo.btVector3(_pos[0], _pos[1], _pos[2]));
if (description.specs.erp) specs.set_erp(description.specs.erp);
if (description.specs.cfm) specs.set_cfm(description.specs.cfm);
if (description.specs.split) specs.set_split(description.specs.split);
// console.log(specs);
//
// // ljoint.set_m_rpos(
// // new Ammo.btVector3(_pos1[0], _pos1[1], _pos1[2]),
// // new Ammo.btVector3(_pos2[0], _pos2[1], _pos2[2])
// // );
//
// // console.log('ljoint', ljoint);
//
// console.log('body', _objects[description.body]);
_objects[description.self].appendLinearJoint(specs, _objects[description.body]);
};
public_functions.addObject = function (description) {
var body = void 0,
motionState = void 0;
if (description.type.indexOf('soft') !== -1) {
body = createSoftBody(description);
var sbConfig = body.get_m_cfg();
if (description.viterations) sbConfig.set_viterations(description.viterations);
if (description.piterations) sbConfig.set_piterations(description.piterations);
if (description.diterations) sbConfig.set_diterations(description.diterations);
if (description.citerations) sbConfig.set_citerations(description.citerations);
sbConfig.set_collisions(0x11);
sbConfig.set_kDF(description.friction);
sbConfig.set_kDP(description.damping);
if (description.pressure) sbConfig.set_kPR(description.pressure);
if (description.drag) sbConfig.set_kDG(description.drag);
if (description.lift) sbConfig.set_kLF(description.lift);
if (description.anchorHardness) sbConfig.set_kAHR(description.anchorHardness);
if (description.rigidHardness) sbConfig.set_kCHR(description.rigidHardness);
if (description.klst) body.get_m_materials().at(0).set_m_kLST(description.klst);
if (description.kast) body.get_m_materials().at(0).set_m_kAST(description.kast);
if (description.kvst) body.get_m_materials().at(0).set_m_kVST(description.kvst);
Ammo.castObject(body, Ammo.btCollisionObject).getCollisionShape().setMargin(typeof description.margin !== 'undefined' ? description.margin : 0.1);
// Ammo.castObject(body, Ammo.btCollisionObject).getCollisionShape().setMargin(0);
// Ammo.castObject(body, Ammo.btCollisionObject).getCollisionShape().setLocalScaling(_vec3_1);
body.setActivationState(description.state || 4);
body.type = 0; // SoftBody.
if (description.type === 'softRopeMesh') body.rope = true;
if (description.type === 'softClothMesh') body.cloth = true;
_transform.setIdentity();
// @test
_quat.setX(description.rotation.x);
_quat.setY(description.rotation.y);
_quat.setZ(description.rotation.z);
_quat.setW(description.rotation.w);
body.rotate(_quat);
_vec3_1.setX(description.position.x);
_vec3_1.setY(description.position.y);
_vec3_1.setZ(description.position.z);
body.translate(_vec3_1);
_vec3_1.setX(description.scale.x);
_vec3_1.setY(description.scale.y);
_vec3_1.setZ(description.scale.z);
body.scale(_vec3_1);
body.setTotalMass(description.mass, false);
world.addSoftBody(body, 1, -1);
if (description.type === 'softTrimesh') _softbody_report_size += body.get_m_faces().size() * 3;else if (description.type === 'softRopeMesh') _softbody_report_size += body.get_m_nodes().size();else _softbody_report_size += body.get_m_nodes().size() * 3;
_num_softbody_objects++;
} else {
var shape = createShape(description);
if (!shape) return;
// If there are children then this is a compound shape
if (description.children) {
var compound_shape = new Ammo.btCompoundShape();
compound_shape.addChildShape(_transform, shape);
for (var i = 0; i < description.children.length; i++) {
var _child = description.children[i];
var trans = new Ammo.btTransform();
trans.setIdentity();
_vec3_1.setX(_child.position_offset.x);
_vec3_1.setY(_child.position_offset.y);
_vec3_1.setZ(_child.position_offset.z);
trans.setOrigin(_vec3_1);
_quat.setX(_child.rotation.x);
_quat.setY(_child.rotation.y);
_quat.setZ(_child.rotation.z);
_quat.setW(_child.rotation.w);
trans.setRotation(_quat);
shape = createShape(description.children[i]);
compound_shape.addChildShape(trans, shape);
Ammo.destroy(trans);
}
shape = compound_shape;
_compound_shapes[description.id] = shape;
}
_vec3_1.setX(description.scale.x);
_vec3_1.setY(description.scale.y);
_vec3_1.setZ(description.scale.z);
shape.setLocalScaling(_vec3_1);
shape.setMargin(typeof description.margin !== 'undefined' ? description.margin : 0);
_vec3_1.setX(0);
_vec3_1.setY(0);
_vec3_1.setZ(0);
shape.calculateLocalInertia(description.mass, _vec3_1);
_transform.setIdentity();
_vec3_2.setX(description.position.x);
_vec3_2.setY(description.position.y);
_vec3_2.setZ(description.position.z);
_transform.setOrigin(_vec3_2);
_quat.setX(description.rotation.x);
_quat.setY(description.rotation.y);
_quat.setZ(description.rotation.z);
_quat.setW(description.rotation.w);
_transform.setRotation(_quat);
motionState = new Ammo.btDefaultMotionState(_transform); // #TODO: btDefaultMotionState supports center of mass offset as second argument - implement
var rbInfo = new Ammo.btRigidBodyConstructionInfo(description.mass, motionState, shape, _vec3_1);
rbInfo.set_m_friction(description.friction);
rbInfo.set_m_restitution(description.restitution);
rbInfo.set_m_linearDamping(description.damping);
rbInfo.set_m_angularDamping(description.damping);
body = new Ammo.btRigidBody(rbInfo);
body.setActivationState(description.state || 4);
Ammo.destroy(rbInfo);
if (typeof description.collision_flags !== 'undefined') body.setCollisionFlags(description.collision_flags);
if (description.group && description.mask) world.addRigidBody(body, description.group, description.mask);else world.addRigidBody(body);
body.type = 1; // RigidBody.
_num_rigidbody_objects++;
}
body.activate();
body.id = description.id;
_objects[body.id] = body;
_motion_states[body.id] = motionState;
_objects_ammo[body.a === undefined ? body.ptr : body.a] = body.id;
_num_objects++;
send({ cmd: 'objectReady', params: body.id });
};
public_functions.addVehicle = function (description) {
var vehicle_tuning = new Ammo.btVehicleTuning();
vehicle_tuning.set_m_suspensionStiffness(description.suspension_stiffness);
vehicle_tuning.set_m_suspensionCompression(description.suspension_compression);
vehicle_tuning.set_m_suspensionDamping(description.suspension_damping);
vehicle_tuning.set_m_maxSuspensionTravelCm(description.max_suspension_travel);
vehicle_tuning.set_m_maxSuspensionForce(description.max_suspension_force);
var vehicle = new Ammo.btRaycastVehicle(vehicle_tuning, _objects[description.rigidBody], new Ammo.btDefaultVehicleRaycaster(world));
vehicle.tuning = vehicle_tuning;
_objects[description.rigidBody].setActivationState(4);
vehicle.setCoordinateSystem(0, 1, 2);
world.addVehicle(vehicle);
_vehicles[description.id] = vehicle;
};
public_functions.removeVehicle = function (description) {
_vehicles[description.id] = null;
};
public_functions.addWheel = function (description) {
if (_vehicles[description.id] !== undefined) {
var tuning = _vehicles[description.id].tuning;
if (description.tuning !== undefined) {
tuning = new Ammo.btVehicleTuning();
tuning.set_m_suspensionStiffness(description.tuning.suspension_stiffness);
tuning.set_m_suspensionCompression(description.tuning.suspension_compression);
tuning.set_m_suspensionDamping(description.tuning.suspension_damping);
tuning.set_m_maxSuspensionTravelCm(description.tuning.max_suspension_travel);
tuning.set_m_maxSuspensionForce(description.tuning.max_suspension_force);
}
_vec3_1.setX(description.connection_point.x);
_vec3_1.setY(description.connection_point.y);
_vec3_1.setZ(description.connection_point.z);
_vec3_2.setX(description.wheel_direction.x);
_vec3_2.setY(description.wheel_direction.y);
_vec3_2.setZ(description.wheel_direction.z);
_vec3_3.setX(description.wheel_axle.x);
_vec3_3.setY(description.wheel_axle.y);
_vec3_3.setZ(description.wheel_axle.z);
_vehicles[description.id].addWheel(_vec3_1, _vec3_2, _vec3_3, description.suspension_rest_length, description.wheel_radius, tuning, description.is_front_wheel);
}
_num_wheels++;
if (SUPPORT_TRANSFERABLE) {
vehiclereport = new Float32Array(1 + _num_wheels * VEHICLEREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )
vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;
} else vehiclereport = [MESSAGE_TYPES.VEHICLEREPORT];
};
public_functions.setSteering = function (details) {
if (_vehicles[details.id] !== undefined) _vehicles[details.id].setSteeringValue(details.steering, details.wheel);
};
public_functions.setBrake = function (details) {
if (_vehicles[details.id] !== undefined) _vehicles[details.id].setBrake(details.brake, details.wheel);
};
public_functions.applyEngineForce = function (details) {
if (_vehicles[details.id] !== undefined) _vehicles[details.id].applyEngineForce(details.force, details.wheel);
};
public_functions.removeObject = function (details) {
if (_objects[details.id].type === 0) {
_num_softbody_objects--;
_softbody_report_size -= _objects[details.id].get_m_nodes().size();
world.removeSoftBody(_objects[details.id]);
} else if (_objects[details.id].type === 1) {
_num_rigidbody_objects--;
world.removeRigidBody(_objects[details.id]);
Ammo.destroy(_motion_states[details.id]);
}
Ammo.destroy(_objects[details.id]);
if (_compound_shapes[details.id]) Ammo.destroy(_compound_shapes[details.id]);
if (_noncached_shapes[details.id]) Ammo.destroy(_noncached_shapes[details.id]);
_objects_ammo[_objects[details.id].a === undefined ? _objects[details.id].a : _objects[details.id].ptr] = null;
_objects[details.id] = null;
_motion_states[details.id] = null;
if (_compound_shapes[details.id]) _compound_shapes[details.id] = null;
if (_noncached_shapes[details.id]) _noncached_shapes[details.id] = null;
_num_objects--;
};
public_functions.updateTransform = function (details) {
_object = _objects[details.id];
if (_object.type === 1) {
_object.getMotionState().getWorldTransform(_transform);
if (details.pos) {
_vec3_1.setX(details.pos.x);
_vec3_1.setY(details.pos.y);
_vec3_1.setZ(details.pos.z);
_transform.setOrigin(_vec3_1);
}
if (details.quat) {
_quat.setX(details.quat.x);
_quat.setY(details.quat.y);
_quat.setZ(details.quat.z);
_quat.setW(details.quat.w);
_transform.setRotation(_quat);
}
_object.setWorldTransform(_transform);
_object.activate();
} else if (_object.type === 0) {
// _object.getWorldTransform(_transform);
if (details.pos) {
_vec3_1.setX(details.pos.x);
_vec3_1.setY(details.pos.y);
_vec3_1.setZ(details.pos.z);
_transform.setOrigin(_vec3_1);
}
if (details.quat) {
_quat.setX(details.quat.x);
_quat.setY(details.quat.y);
_quat.setZ(details.quat.z);
_quat.setW(details.quat.w);
_transform.setRotation(_quat);
}
_object.transform(_transform);
}
};
public_functions.updateMass = function (details) {
// #TODO: changing a static object into dynamic is buggy
_object = _objects[details.id];
// Per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=3663#p13816
world.removeRigidBody(_object);
_vec3_1.setX(0);
_vec3_1.setY(0);
_vec3_1.setZ(0);
_object.setMassProps(details.mass, _vec3_1);
world.addRigidBody(_object);
_object.activate();
};
public_functions.applyCentralImpulse = function (details) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].applyCentralImpulse(_vec3_1);
_objects[details.id].activate();
};
public_functions.applyImpulse = function (details) {
_vec3_1.setX(details.impulse_x);
_vec3_1.setY(details.impulse_y);
_vec3_1.setZ(details.impulse_z);
_vec3_2.setX(details.x);
_vec3_2.setY(details.y);
_vec3_2.setZ(details.z);
_objects[details.id].applyImpulse(_vec3_1, _vec3_2);
_objects[details.id].activate();
};
public_functions.applyTorque = function (details) {
_vec3_1.setX(details.torque_x);
_vec3_1.setY(details.torque_y);
_vec3_1.setZ(details.torque_z);
_objects[details.id].applyTorque(_vec3_1);
_objects[details.id].activate();
};
public_functions.applyCentralForce = function (details) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].applyCentralForce(_vec3_1);
_objects[details.id].activate();
};
public_functions.applyForce = function (details) {
_vec3_1.setX(details.force_x);
_vec3_1.setY(details.force_y);
_vec3_1.setZ(details.force_z);
_vec3_2.setX(details.x);
_vec3_2.setY(details.y);
_vec3_2.setZ(details.z);
_objects[details.id].applyForce(_vec3_1, _vec3_2);
_objects[details.id].activate();
};
public_functions.onSimulationResume = function () {
};
public_functions.setAngularVelocity = function (details) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setAngularVelocity(_vec3_1);
_objects[details.id].activate();
};
public_functions.setLinearVelocity = function (details) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setLinearVelocity(_vec3_1);
_objects[details.id].activate();
};
public_functions.setAngularFactor = function (details) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setAngularFactor(_vec3_1);
};
public_functions.setLinearFactor = function (details) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setLinearFactor(_vec3_1);
};
public_functions.setDamping = function (details) {
_objects[details.id].setDamping(details.linear, details.angular);
};
public_functions.setCcdMotionThreshold = function (details) {
_objects[details.id].setCcdMotionThreshold(details.threshold);
};
public_functions.setCcdSweptSphereRadius = function (details) {
_objects[details.id].setCcdSweptSphereRadius(details.radius);
};
public_functions.addConstraint = function (details) {
var constraint = void 0;
switch (details.type) {
case 'point':
{
if (details.objectb === undefined) {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
constraint = new Ammo.btPoint2PointConstraint(_objects[details.objecta], _vec3_1);
} else {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
constraint = new Ammo.btPoint2PointConstraint(_objects[details.objecta], _objects[details.objectb], _vec3_1, _vec3_2);
}
break;
}
case 'hinge':
{
if (details.objectb === undefined) {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.axis.x);
_vec3_2.setY(details.axis.y);
_vec3_2.setZ(details.axis.z);
constraint = new Ammo.btHingeConstraint(_objects[details.objecta], _vec3_1, _vec3_2);
} else {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
_vec3_3.setX(details.axis.x);
_vec3_3.setY(details.axis.y);
_vec3_3.setZ(details.axis.z);
constraint = new Ammo.btHingeConstraint(_objects[details.objecta], _objects[details.objectb], _vec3_1, _vec3_2, _vec3_3, _vec3_3);
}
break;
}
case 'slider':
{
var transformb = void 0;
var transforma = new Ammo.btTransform();
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
transforma.setOrigin(_vec3_1);
var rotation = transforma.getRotation();
rotation.setEuler(details.axis.x, details.axis.y, details.axis.z);
transforma.setRotation(rotation);
if (details.objectb) {
transformb = new Ammo.btTransform();
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
transformb.setOrigin(_vec3_2);
rotation = transformb.getRotation();
rotation.setEuler(details.axis.x, details.axis.y, details.axis.z);
transformb.setRotation(rotation);
constraint = new Ammo.btSliderConstraint(_objects[details.objecta], _objects[details.objectb], transforma, transformb, true);
} else {
constraint = new Ammo.btSliderConstraint(_objects[details.objecta], transforma, true);
}
constraint.ta = transforma;
constraint.tb = transformb;
Ammo.destroy(transforma);
if (transformb !== undefined) Ammo.destroy(transformb);
break;
}
case 'conetwist':
{
var _transforma = new Ammo.btTransform();
_transforma.setIdentity();
var _transformb = new Ammo.btTransform();
_transformb.setIdentity();
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
_transforma.setOrigin(_vec3_1);
_transformb.setOrigin(_vec3_2);
var _rotation = _transforma.getRotation();
_rotation.setEulerZYX(-details.axisa.z, -details.axisa.y, -details.axisa.x);
_transforma.setRotation(_rotation);
_rotation = _transformb.getRotation();
_rotation.setEulerZYX(-details.axisb.z, -details.axisb.y, -details.axisb.x);
_transformb.setRotation(_rotation);
constraint = new Ammo.btConeTwistConstraint(_objects[details.objecta], _objects[details.objectb], _transforma, _transformb);
constraint.setLimit(Math.PI, 0, Math.PI);
constraint.ta = _transforma;
constraint.tb = _transformb;
Ammo.destroy(_transforma);
Ammo.destroy(_transformb);
break;
}
case 'dof':
{
var _transformb2 = void 0;
var _transforma2 = new Ammo.btTransform();
_transforma2.setIdentity();
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_transforma2.setOrigin(_vec3_1);
var _rotation2 = _transforma2.getRotation();
_rotation2.setEulerZYX(-details.axisa.z, -details.axisa.y, -details.axisa.x);
_transforma2.setRotation(_rotation2);
if (details.objectb) {
_transformb2 = new Ammo.btTransform();
_transformb2.setIdentity();
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
_transformb2.setOrigin(_vec3_2);
_rotation2 = _transformb2.getRotation();
_rotation2.setEulerZYX(-details.axisb.z, -details.axisb.y, -details.axisb.x);
_transformb2.setRotation(_rotation2);
constraint = new Ammo.btGeneric6DofConstraint(_objects[details.objecta], _objects[details.objectb], _transforma2, _transformb2, true);
} else {
constraint = new Ammo.btGeneric6DofConstraint(_objects[details.objecta], _transforma2, true);
}
constraint.ta = _transforma2;
constraint.tb = _transformb2;
Ammo.destroy(_transforma2);
if (_transformb2 !== undefined) Ammo.destroy(_transformb2);
break;
}
default:
return;
}
world.addConstraint(constraint);
constraint.a = _objects[details.objecta];
constraint.b = _objects[details.objectb];
constraint.enableFeedback();
_constraints[details.id] = constraint;
_num_constraints++;
if (SUPPORT_TRANSFERABLE) {
constraintreport = new Float32Array(1 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )
constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;
} else constraintreport = [MESSAGE_TYPES.CONSTRAINTREPORT];
};
public_functions.removeConstraint = function (details) {
var constraint = _constraints[details.id];
if (constraint !== undefined) {
world.removeConstraint(constraint);
_constraints[details.id] = null;
_num_constraints--;
}
};
public_functions.constraint_setBreakingImpulseThreshold = function (details) {
var constraint = _constraints[details.id];
if (constraint !== undefined) constraint.setBreakingImpulseThreshold(details.threshold);
};
public_functions.simulate = function () {
var params = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};
if (world) {
if (params.timeStep && params.timeStep < fixedTimeStep) params.timeStep = fixedTimeStep;
params.maxSubSteps = params.maxSubSteps || Math.ceil(params.timeStep / fixedTimeStep); // If maxSubSteps is not defined, keep the simulation fully up to date
world.stepSimulation(params.timeStep, params.maxSubSteps, fixedTimeStep);
if (_vehicles.length > 0) reportVehicles();
reportCollisions();
if (_constraints.length > 0) reportConstraints();
reportWorld();
if (_softbody_enabled) reportWorld_softbodies();
}
};
// Constraint functions
public_functions.hinge_setLimits = function (params) {
_constraints[params.constraint].setLimit(params.low, params.high, 0, params.bias_factor, params.relaxation_factor);
};
public_functions.hinge_enableAngularMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.enableAngularMotor(true, params.velocity, params.acceleration);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.hinge_disableMotor = function (params) {
_constraints[params.constraint].enableMotor(false);
if (constraint.b) constraint.b.activate();
};
public_functions.slider_setLimits = function (params) {
var constraint = _constraints[params.constraint];
constraint.setLowerLinLimit(params.lin_lower || 0);
constraint.setUpperLinLimit(params.lin_upper || 0);
constraint.setLowerAngLimit(params.ang_lower || 0);
constraint.setUpperAngLimit(params.ang_upper || 0);
};
public_functions.slider_setRestitution = function (params) {
var constraint = _constraints[params.constraint];
constraint.setSoftnessLimLin(params.linear || 0);
constraint.setSoftnessLimAng(params.angular || 0);
};
public_functions.slider_enableLinearMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.setTargetLinMotorVelocity(params.velocity);
constraint.setMaxLinMotorForce(params.acceleration);
constraint.setPoweredLinMotor(true);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.slider_disableLinearMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.setPoweredLinMotor(false);
if (constraint.b) constraint.b.activate();
};
public_functions.slider_enableAngularMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.setTargetAngMotorVelocity(params.velocity);
constraint.setMaxAngMotorForce(params.acceleration);
constraint.setPoweredAngMotor(true);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.slider_disableAngularMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.setPoweredAngMotor(false);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.conetwist_setLimit = function (params) {
_constraints[params.constraint].setLimit(params.z, params.y, params.x); // ZYX order
};
public_functions.conetwist_enableMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.enableMotor(true);
constraint.a.activate();
constraint.b.activate();
};
public_functions.conetwist_setMaxMotorImpulse = function (params) {
var constraint = _constraints[params.constraint];
constraint.setMaxMotorImpulse(params.max_impulse);
constraint.a.activate();
constraint.b.activate();
};
public_functions.conetwist_setMotorTarget = function (params) {
var constraint = _constraints[params.constraint];
_quat.setX(params.x);
_quat.setY(params.y);
_quat.setZ(params.z);
_quat.setW(params.w);
constraint.setMotorTarget(_quat);
constraint.a.activate();
constraint.b.activate();
};
public_functions.conetwist_disableMotor = function (params) {
var constraint = _constraints[params.constraint];
constraint.enableMotor(false);
constraint.a.activate();
constraint.b.activate();
};
public_functions.dof_setLinearLowerLimit = function (params) {
var constraint = _constraints[params.constraint];
_vec3_1.setX(params.x);
_vec3_1.setY(params.y);
_vec3_1.setZ(params.z);
constraint.setLinearLowerLimit(_vec3_1);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.dof_setLinearUpperLimit = function (params) {
var constraint = _constraints[params.constraint];
_vec3_1.setX(params.x);
_vec3_1.setY(params.y);
_vec3_1.setZ(params.z);
constraint.setLinearUpperLimit(_vec3_1);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.dof_setAngularLowerLimit = function (params) {
var constraint = _constraints[params.constraint];
_vec3_1.setX(params.x);
_vec3_1.setY(params.y);
_vec3_1.setZ(params.z);
constraint.setAngularLowerLimit(_vec3_1);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.dof_setAngularUpperLimit = function (params) {
var constraint = _constraints[params.constraint];
_vec3_1.setX(params.x);
_vec3_1.setY(params.y);
_vec3_1.setZ(params.z);
constraint.setAngularUpperLimit(_vec3_1);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.dof_enableAngularMotor = function (params) {
var constraint = _constraints[params.constraint];
var motor = constraint.getRotationalLimitMotor(params.which);
motor.set_m_enableMotor(true);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.dof_configureAngularMotor = function (params) {
var constraint = _constraints[params.constraint],
motor = constraint.getRotationalLimitMotor(params.which);
motor.set_m_loLimit(params.low_angle);
motor.set_m_hiLimit(params.high_angle);
motor.set_m_targetVelocity(params.velocity);
motor.set_m_maxMotorForce(params.max_force);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
public_functions.dof_disableAngularMotor = function (params) {
var constraint = _constraints[params.constraint],
motor = constraint.getRotationalLimitMotor(params.which);
motor.set_m_enableMotor(false);
constraint.a.activate();
if (constraint.b) constraint.b.activate();
};
var reportWorld = function reportWorld() {
if (SUPPORT_TRANSFERABLE && worldreport.length < 2 + _num_rigidbody_objects * WORLDREPORT_ITEMSIZE) {
worldreport = new Float32Array(2 // message id & # objects in report
+ Math.ceil(_num_rigidbody_objects / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE * WORLDREPORT_ITEMSIZE // # of values needed * item size
);
worldreport[0] = MESSAGE_TYPES.WORLDREPORT;
}
worldreport[1] = _num_rigidbody_objects; // record how many objects we're reporting on
{
var i = 0,
index = _objects.length;
while (index--) {
var object = _objects[index];
if (object && object.type === 1) {
// RigidBodies.
// #TODO: we can't use center of mass transform when center of mass can change,
// but getMotionState().getWorldTransform() screws up on objects that have been moved
// object.getMotionState().getWorldTransform( transform );
// object.getMotionState().getWorldTransform(_transform);
var transform = object.getCenterOfMassTransform();
var origin = transform.getOrigin();
var rotation = transform.getRotation();
// add values to report
var offset = 2 + i++ * WORLDREPORT_ITEMSIZE;
worldreport[offset] = object.id;
worldreport[offset + 1] = origin.x();
worldreport[offset + 2] = origin.y();
worldreport[offset + 3] = origin.z();
worldreport[offset + 4] = rotation.x();
worldreport[offset + 5] = rotation.y();
worldreport[offset + 6] = rotation.z();
worldreport[offset + 7] = rotation.w();
_vector = object.getLinearVelocity();
worldreport[offset + 8] = _vector.x();
worldreport[offset + 9] = _vector.y();
worldreport[offset + 10] = _vector.z();
_vector = object.getAngularVelocity();
worldreport[offset + 11] = _vector.x();
worldreport[offset + 12] = _vector.y();
worldreport[offset + 13] = _vector.z();
}
}
}
if (SUPPORT_TRANSFERABLE) send(worldreport.buffer, [worldreport.buffer]);else send(worldreport);
};
var reportWorld_softbodies = function reportWorld_softbodies() {
// TODO: Add SUPPORTTRANSFERABLE.
softreport = new Float32Array(2 // message id & # objects in report
+ _num_softbody_objects * 2 + _softbody_report_size * 6);
softreport[0] = MESSAGE_TYPES.SOFTREPORT;
softreport[1] = _num_softbody_objects; // record how many objects we're reporting on
{
var offset = 2,
index = _objects.length;
while (index--) {
var object = _objects[index];
if (object && object.type === 0) {
// SoftBodies.
softreport[offset] = object.id;
var offsetVert = offset + 2;
if (object.rope === true) {
var nodes = object.get_m_nodes();
var size = nodes.size();
softreport[offset + 1] = size;
for (var i = 0; i < size; i++) {
var node = nodes.at(i);
var vert = node.get_m_x();
var off = offsetVert + i * 3;
softreport[off] = vert.x();
softreport[off + 1] = vert.y();
softreport[off + 2] = vert.z();
}
offset += size * 3 + 2;
} else if (object.cloth) {
var _nodes = object.get_m_nodes();
var _size = _nodes.size();
softreport[offset + 1] = _size;
for (var _i3 = 0; _i3 < _size; _i3++) {
var _node = _nodes.at(_i3);
var _vert = _node.get_m_x();
var normal = _node.get_m_n();
var _off = offsetVert + _i3 * 6;
softreport[_off] = _vert.x();
softreport[_off + 1] = _vert.y();
softreport[_off + 2] = _vert.z();
softreport[_off + 3] = -normal.x();
softreport[_off + 4] = -normal.y();
softreport[_off + 5] = -normal.z();
}
offset += _size * 6 + 2;
} else {
var faces = object.get_m_faces();
var _size2 = faces.size();
softreport[offset + 1] = _size2;
for (var _i4 = 0; _i4 < _size2; _i4++) {
var face = faces.at(_i4);
var node1 = face.get_m_n(0);
var node2 = face.get_m_n(1);
var node3 = face.get_m_n(2);
var vert1 = node1.get_m_x();
var vert2 = node2.get_m_x();
var vert3 = node3.get_m_x();
var normal1 = node1.get_m_n();
var normal2 = node2.get_m_n();
var normal3 = node3.get_m_n();
var _off2 = offsetVert + _i4 * 18;
softreport[_off2] = vert1.x();
softreport[_off2 + 1] = vert1.y();
softreport[_off2 + 2] = vert1.z();
softreport[_off2 + 3] = normal1.x();
softreport[_off2 + 4] = normal1.y();
softreport[_off2 + 5] = normal1.z();
softreport[_off2 + 6] = vert2.x();
softreport[_off2 + 7] = vert2.y();
softreport[_off2 + 8] = vert2.z();
softreport[_off2 + 9] = normal2.x();
softreport[_off2 + 10] = normal2.y();
softreport[_off2 + 11] = normal2.z();
softreport[_off2 + 12] = vert3.x();
softreport[_off2 + 13] = vert3.y();
softreport[_off2 + 14] = vert3.z();
softreport[_off2 + 15] = normal3.x();
softreport[_off2 + 16] = normal3.y();
softreport[_off2 + 17] = normal3.z();
}
offset += _size2 * 18 + 2;
}
}
}
}
// if (SUPPORT_TRANSFERABLE) send(softreport.buffer, [softreport.buffer]);
// else send(softreport);
send(softreport);
};
var reportCollisions = function reportCollisions() {
var dp = world.getDispatcher(),
num = dp.getNumManifolds();
// _collided = false;
if (SUPPORT_TRANSFERABLE) {
if (collisionreport.length < 2 + num * COLLISIONREPORT_ITEMSIZE) {
collisionreport = new Float32Array(2 // message id & # objects in report
+ Math.ceil(_num_objects / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE * COLLISIONREPORT_ITEMSIZE // # of values needed * item size
);
collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;
}
}
collisionreport[1] = 0; // how many collisions we're reporting on
for (var i = 0; i < num; i++) {
var manifold = dp.getManifoldByIndexInternal(i),
num_contacts = manifold.getNumContacts();
if (num_contacts === 0) continue;
for (var j = 0; j < num_contacts; j++) {
var pt = manifold.getContactPoint(j);
// if ( pt.getDistance() < 0 ) {
var offset = 2 + collisionreport[1]++ * COLLISIONREPORT_ITEMSIZE;
collisionreport[offset] = _objects_ammo[manifold.getBody0().ptr];
collisionreport[offset + 1] = _objects_ammo[manifold.getBody1().ptr];
_vector = pt.get_m_normalWorldOnB();
collisionreport[offset + 2] = _vector.x();
collisionreport[offset + 3] = _vector.y();
collisionreport[offset + 4] = _vector.z();
break;
// }
// send(_objects_ammo);
}
}
if (SUPPORT_TRANSFERABLE) send(collisionreport.buffer, [collisionreport.buffer]);else send(collisionreport);
};
var reportVehicles = function reportVehicles() {
if (SUPPORT_TRANSFERABLE) {
if (vehiclereport.length < 2 + _num_wheels * VEHICLEREPORT_ITEMSIZE) {
vehiclereport = new Float32Array(2 // message id & # objects in report
+ Math.ceil(_num_wheels / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE * VEHICLEREPORT_ITEMSIZE // # of values needed * item size
);
vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;
}
}
{
var i = 0,
j = 0,
index = _vehicles.length;
while (index--) {
if (_vehicles[index]) {
var vehicle = _vehicles[index];
for (j = 0; j < vehicle.getNumWheels(); j++) {
// vehicle.updateWheelTransform( j, true );
// transform = vehicle.getWheelTransformWS( j );
var transform = vehicle.getWheelInfo(j).get_m_worldTransform();
var origin = transform.getOrigin();
var rotation = transform.getRotation();
// add values to report
var offset = 1 + i++ * VEHICLEREPORT_ITEMSIZE;
vehiclereport[offset] = index;
vehiclereport[offset + 1] = j;
vehiclereport[offset + 2] = origin.x();
vehiclereport[offset + 3] = origin.y();
vehiclereport[offset + 4] = origin.z();
vehiclereport[offset + 5] = rotation.x();
vehiclereport[offset + 6] = rotation.y();
vehiclereport[offset + 7] = rotation.z();
vehiclereport[offset + 8] = rotation.w();
}
}
}
if (SUPPORT_TRANSFERABLE && j !== 0) send(vehiclereport.buffer, [vehiclereport.buffer]);else if (j !== 0) send(vehiclereport);
}
};
var reportConstraints = function reportConstraints() {
if (SUPPORT_TRANSFERABLE) {
if (constraintreport.length < 2 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE) {
constraintreport = new Float32Array(2 // message id & # objects in report
+ Math.ceil(_num_constraints / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE * CONSTRAINTREPORT_ITEMSIZE // # of values needed * item size
);
constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;
}
}
{
var offset = 0,
i = 0,
index = _constraints.lenght;
while (index--) {
if (_constraints[index]) {
var _constraint = _constraints[index];
var offset_body = _constraint.a;
var transform = _constraint.ta;
var origin = transform.getOrigin();
// add values to report
offset = 1 + i++ * CONSTRAINTREPORT_ITEMSIZE;
constraintreport[offset] = index;
constraintreport[offset + 1] = offset_body.id;
constraintreport[offset + 2] = origin.x;
constraintreport[offset + 3] = origin.y;
constraintreport[offset + 4] = origin.z;
constraintreport[offset + 5] = _constraint.getBreakingImpulseThreshold();
}
}
if (SUPPORT_TRANSFERABLE && i !== 0) send(constraintreport.buffer, [constraintreport.buffer]);else if (i !== 0) send(constraintreport);
}
};
self.onmessage = function (event) {
if (event.data instanceof Float32Array) {
// transferable object
switch (event.data[0]) {
case MESSAGE_TYPES.WORLDREPORT:
{
worldreport = new Float32Array(event.data);
break;
}
case MESSAGE_TYPES.COLLISIONREPORT:
{
collisionreport = new Float32Array(event.data);
break;
}
case MESSAGE_TYPES.VEHICLEREPORT:
{
vehiclereport = new Float32Array(event.data);
break;
}
case MESSAGE_TYPES.CONSTRAINTREPORT:
{
constraintreport = new Float32Array(event.data);
break;
}
default:
}
return;
} else if (event.data.cmd && public_functions[event.data.cmd]) public_functions[event.data.cmd](event.data.params);
};
self.receive = self.onmessage;
});
var WorldModule = function (_WorldModuleBase) {
inherits(WorldModule, _WorldModuleBase);
function WorldModule() {
var _ref;
classCallCheck(this, WorldModule);
for (var _len = arguments.length, args = Array(_len), _key = 0; _key < _len; _key++) {
args[_key] = arguments[_key];
}
var _this = possibleConstructorReturn(this, (_ref = WorldModule.__proto__ || Object.getPrototypeOf(WorldModule)).call.apply(_ref, [this].concat(args)));
_this.worker = new PhysicsWorker();
_this.worker.transferableMessage = _this.worker.webkitPostMessage || _this.worker.postMessage;
_this.isLoaded = false;
var options = _this.options;
_this.loader = new Promise(function (resolve, reject) {
// if (options.wasm) {
// fetch(options.wasm)
// .then(response => response.arrayBuffer())
// .then(buffer => {
// options.wasmBuffer = buffer;
//
// this.execute('init', options);
// resolve();
// });
// } else {
_this.execute('init', options);
resolve();
// }
});
_this.loader.then(function () {
_this.isLoaded = true;
});
// Test SUPPORT_TRANSFERABLE
var ab = new ArrayBuffer(1);
_this.worker.transferableMessage(ab, [ab]);
_this.SUPPORT_TRANSFERABLE = ab.byteLength === 0;
_this.setup();
return _this;
}
createClass(WorldModule, [{
key: 'send',
value: function send() {
var _worker;
(_worker = this.worker).transferableMessage.apply(_worker, arguments);
}
}, {
key: 'receive',
value: function receive(callback) {
this.worker.addEventListener('message', callback);
}
}]);
return WorldModule;
}(WorldModuleBase);
var _class$1, _temp;
var properties = {
position: {
get: function get$$1() {
return this._native.position;
},
set: function set$$1(vector3) {
var pos = this._native.position;
var scope = this;
Object.defineProperties(pos, {
x: {
get: function get$$1() {
return this._x;
},
set: function set$$1(x) {
scope.__dirtyPosition = true;
this._x = x;
}
},
y: {
get: function get$$1() {
return this._y;
},
set: function set$$1(y) {
scope.__dirtyPosition = true;
this._y = y;
}
},
z: {
get: function get$$1() {
return this._z;
},
set: function set$$1(z) {
scope.__dirtyPosition = true;
this._z = z;
}
}
});
scope.__dirtyPosition = true;
pos.copy(vector3);
}
},
quaternion: {
get: function get$$1() {
this.__c_rot = true;
return this.native.quaternion;
},
set: function set$$1(quaternion) {
var _this = this;
var quat = this._native.quaternion,
native = this._native;
quat.copy(quaternion);
quat.onChange(function () {
if (_this.__c_rot) {
if (native.__dirtyRotation === true) {
_this.__c_rot = false;
native.__dirtyRotation = false;
}
native.__dirtyRotation = true;
}
});
}
},
rotation: {
get: function get$$1() {
this.__c_rot = true;
return this._native.rotation;
},
set: function set$$1(euler) {
var _this2 = this;
var rot = this._native.rotation,
native = this._native;
this.quaternion.copy(new three.Quaternion().setFromEuler(euler));
rot.onChange(function () {
if (_this2.__c_rot) {
_this2.quaternion.copy(new three.Quaternion().setFromEuler(rot));
native.__dirtyRotation = true;
}
});
}
}
};
function wrapPhysicsPrototype(scope) {
for (var key in properties) {
Object.defineProperty(scope, key, {
get: properties[key].get.bind(scope),
set: properties[key].set.bind(scope),
configurable: true,
enumerable: true
});
}
}
function onCopy(source) {
wrapPhysicsPrototype(this);
var physics = this.use('physics');
var sourcePhysics = source.use('physics');
this.manager.modules.physics = physics.clone(this.manager);
physics.data = _extends({}, sourcePhysics.data);
physics.data.isSoftBodyReset = false;
if (physics.data.isSoftbody) physics.data.isSoftBodyReset = false;
this.position = this.position.clone();
this.rotation = this.rotation.clone();
this.quaternion = this.quaternion.clone();
return source;
}
function onWrap() {
this.position = this.position.clone();
this.rotation = this.rotation.clone();
this.quaternion = this.quaternion.clone();
}
var API = function () {
function API() {
classCallCheck(this, API);
}
createClass(API, [{
key: 'applyCentralImpulse',
value: function applyCentralImpulse(force) {
this.execute('applyCentralImpulse', { id: this.data.id, x: force.x, y: force.y, z: force.z });
}
}, {
key: 'applyImpulse',
value: function applyImpulse(force, offset) {
this.execute('applyImpulse', {
id: this.data.id,
impulse_x: force.x,
impulse_y: force.y,
impulse_z: force.z,
x: offset.x,
y: offset.y,
z: offset.z
});
}
}, {
key: 'applyTorque',
value: function applyTorque(force) {
this.execute('applyTorque', {
id: this.data.id,
torque_x: force.x,
torque_y: force.y,
torque_z: force.z
});
}
}, {
key: 'applyCentralForce',
value: function applyCentralForce(force) {
this.execute('applyCentralForce', {
id: this.data.id,
x: force.x,
y: force.y,
z: force.z
});
}
}, {
key: 'applyForce',
value: function applyForce(force, offset) {
this.execute('applyForce', {
id: this.data.id,
force_x: force.x,
force_y: force.y,
force_z: force.z,
x: offset.x,
y: offset.y,
z: offset.z
});
}
}, {
key: 'getAngularVelocity',
value: function getAngularVelocity() {
return this.data.angularVelocity;
}
}, {
key: 'setAngularVelocity',
value: function setAngularVelocity(velocity) {
this.execute('setAngularVelocity', { id: this.data.id, x: velocity.x, y: velocity.y, z: velocity.z });
}
}, {
key: 'getLinearVelocity',
value: function getLinearVelocity() {
return this.data.linearVelocity;
}
}, {
key: 'setLinearVelocity',
value: function setLinearVelocity(velocity) {
this.execute('setLinearVelocity', { id: this.data.id, x: velocity.x, y: velocity.y, z: velocity.z });
}
}, {
key: 'setAngularFactor',
value: function setAngularFactor(factor) {
this.execute('setAngularFactor', { id: this.data.id, x: factor.x, y: factor.y, z: factor.z });
}
}, {
key: 'setLinearFactor',
value: function setLinearFactor(factor) {
this.execute('setLinearFactor', { id: this.data.id, x: factor.x, y: factor.y, z: factor.z });
}
}, {
key: 'setDamping',
value: function setDamping(linear, angular) {
this.execute('setDamping', { id: this.data.id, linear: linear, angular: angular });
}
}, {
key: 'setCcdMotionThreshold',
value: function setCcdMotionThreshold(threshold) {
this.execute('setCcdMotionThreshold', { id: this.data.id, threshold: threshold });
}
}, {
key: 'setCcdSweptSphereRadius',
value: function setCcdSweptSphereRadius(radius) {
this.execute('setCcdSweptSphereRadius', { id: this.data.id, radius: radius });
}
}]);
return API;
}();
var _default = (_temp = _class$1 = function (_API) {
inherits(_default, _API);
function _default(defaults$$1, data) {
classCallCheck(this, _default);
var _this3 = possibleConstructorReturn(this, (_default.__proto__ || Object.getPrototypeOf(_default)).call(this));
_this3.bridge = {
onCopy: onCopy,
onWrap: onWrap
};
_this3.data = Object.assign(defaults$$1, data);
return _this3;
}
createClass(_default, [{
key: 'integrate',
value: function integrate(self) {
wrapPhysicsPrototype(this);
}
}, {
key: 'manager',
value: function manager(_manager) {
_manager.define('physics');
this.execute = function () {
var _manager$get;
return _manager.has('module:world') ? (_manager$get = _manager.get('module:world')).execute.apply(_manager$get, arguments) : function () {};
};
}
}, {
key: 'updateData',
value: function updateData(callback) {
this.bridge.geometry = function (geometry, module) {
if (!callback) return geometry;
var result = callback(geometry, module);
return result ? result : geometry;
};
}
}, {
key: 'clone',
value: function clone(manager) {
var clone = new this.constructor();
clone.data = _extends({}, this.data);
clone.bridge.geometry = this.bridge.geometry;
this.manager.apply(clone, [manager]);
return clone;
}
}]);
return _default;
}(API), _class$1.rigidbody = function () {
return {
touches: [],
linearVelocity: new three.Vector3(),
angularVelocity: new three.Vector3(),
mass: 10,
scale: new three.Vector3(1, 1, 1),
restitution: 0.3,
friction: 0.8,
damping: 0,
margin: 0
};
}, _class$1.softbody = function () {
return {
touches: [],
restitution: 0.3,
friction: 0.8,
damping: 0,
scale: new three.Vector3(1, 1, 1),
pressure: 100,
margin: 0,
klst: 0.9,
kvst: 0.9,
kast: 0.9,
piterations: 1,
viterations: 0,
diterations: 0,
citerations: 4,
anchorHardness: 0.7,
rigidHardness: 1,
isSoftbody: true,
isSoftBodyReset: false
};
}, _class$1.rope = function () {
return {
touches: [],
friction: 0.8,
scale: new three.Vector3(1, 1, 1),
damping: 0,
margin: 0,
klst: 0.9,
kvst: 0.9,
kast: 0.9,
piterations: 1,
viterations: 0,
diterations: 0,
citerations: 4,
anchorHardness: 0.7,
rigidHardness: 1,
isSoftbody: true
};
}, _class$1.cloth = function () {
return {
touches: [],
friction: 0.8,
damping: 0,
margin: 0,
scale: new three.Vector3(1, 1, 1),
klst: 0.9,
kvst: 0.9,
kast: 0.9,
piterations: 1,
viterations: 0,
diterations: 0,
citerations: 4,
anchorHardness: 0.7,
rigidHardness: 1
};
}, _temp);
var BoxModule = function (_PhysicsModule) {
inherits(BoxModule, _PhysicsModule);
function BoxModule(params) {
classCallCheck(this, BoxModule);
var _this = possibleConstructorReturn(this, (BoxModule.__proto__ || Object.getPrototypeOf(BoxModule)).call(this, _extends({
type: 'box'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingBox) geometry.computeBoundingBox();
data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;
data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;
data.depth = data.depth || geometry.boundingBox.max.z - geometry.boundingBox.min.z;
});
return _this;
}
return BoxModule;
}(_default);
var CompoundModule = function (_PhysicsModule) {
inherits(CompoundModule, _PhysicsModule);
function CompoundModule(params) {
classCallCheck(this, CompoundModule);
return possibleConstructorReturn(this, (CompoundModule.__proto__ || Object.getPrototypeOf(CompoundModule)).call(this, _extends({
type: 'compound'
}, _default.rigidbody()), params));
}
return CompoundModule;
}(_default);
// TODO: Test CapsuleModule in action.
var CapsuleModule = function (_PhysicsModule) {
inherits(CapsuleModule, _PhysicsModule);
function CapsuleModule(params) {
classCallCheck(this, CapsuleModule);
var _this = possibleConstructorReturn(this, (CapsuleModule.__proto__ || Object.getPrototypeOf(CapsuleModule)).call(this, _extends({
type: 'capsule'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingBox) geometry.computeBoundingBox();
data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;
data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;
data.depth = data.depth || geometry.boundingBox.max.z - geometry.boundingBox.min.z;
});
return _this;
}
return CapsuleModule;
}(_default);
var ConcaveModule = function (_PhysicsModule) {
inherits(ConcaveModule, _PhysicsModule);
function ConcaveModule(params) {
classCallCheck(this, ConcaveModule);
var _this = possibleConstructorReturn(this, (ConcaveModule.__proto__ || Object.getPrototypeOf(ConcaveModule)).call(this, _extends({
type: 'concave'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
data.data = _this.geometryProcessor(geometry);
});
return _this;
}
createClass(ConcaveModule, [{
key: 'geometryProcessor',
value: function geometryProcessor(geometry) {
if (!geometry.boundingBox) geometry.computeBoundingBox();
var data = geometry.isBufferGeometry ? geometry.attributes.position.array : new Float32Array(geometry.faces.length * 9);
if (!geometry.isBufferGeometry) {
var vertices = geometry.vertices;
for (var i = 0; i < geometry.faces.length; i++) {
var face = geometry.faces[i];
var vA = vertices[face.a];
var vB = vertices[face.b];
var vC = vertices[face.c];
var i9 = i * 9;
data[i9] = vA.x;
data[i9 + 1] = vA.y;
data[i9 + 2] = vA.z;
data[i9 + 3] = vB.x;
data[i9 + 4] = vB.y;
data[i9 + 5] = vB.z;
data[i9 + 6] = vC.x;
data[i9 + 7] = vC.y;
data[i9 + 8] = vC.z;
}
}
return data;
}
}]);
return ConcaveModule;
}(_default);
var ConeModule = function (_PhysicsModule) {
inherits(ConeModule, _PhysicsModule);
function ConeModule(params) {
classCallCheck(this, ConeModule);
var _this = possibleConstructorReturn(this, (ConeModule.__proto__ || Object.getPrototypeOf(ConeModule)).call(this, _extends({
type: 'cone'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingBox) geometry.computeBoundingBox();
data.radius = data.radius || (geometry.boundingBox.max.x - geometry.boundingBox.min.x) / 2;
data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;
});
return _this;
}
return ConeModule;
}(_default);
var ConvexModule = function (_PhysicsModule) {
inherits(ConvexModule, _PhysicsModule);
function ConvexModule(params) {
classCallCheck(this, ConvexModule);
var _this = possibleConstructorReturn(this, (ConvexModule.__proto__ || Object.getPrototypeOf(ConvexModule)).call(this, _extends({
type: 'convex'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingBox) geometry.computeBoundingBox();
if (!geometry.isBufferGeometry) geometry._bufferGeometry = new three.BufferGeometry().fromGeometry(geometry);
data.data = geometry.isBufferGeometry ? geometry.attributes.position.array : geometry._bufferGeometry.attributes.position.array;
});
return _this;
}
return ConvexModule;
}(_default);
var CylinderModule = function (_PhysicsModule) {
inherits(CylinderModule, _PhysicsModule);
function CylinderModule(params) {
classCallCheck(this, CylinderModule);
var _this = possibleConstructorReturn(this, (CylinderModule.__proto__ || Object.getPrototypeOf(CylinderModule)).call(this, _extends({
type: 'cylinder'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingBox) geometry.computeBoundingBox();
data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;
data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;
data.depth = data.depth || geometry.boundingBox.max.z - geometry.boundingBox.min.z;
});
return _this;
}
return CylinderModule;
}(_default);
var HeightfieldModule = function (_PhysicsModule) {
inherits(HeightfieldModule, _PhysicsModule);
function HeightfieldModule(params) {
classCallCheck(this, HeightfieldModule);
var _this = possibleConstructorReturn(this, (HeightfieldModule.__proto__ || Object.getPrototypeOf(HeightfieldModule)).call(this, _extends({
type: 'heightfield',
size: new three.Vector2(1, 1),
autoAlign: false
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
var _data$size = data.size,
xdiv = _data$size.x,
ydiv = _data$size.y;
var verts = geometry.isBufferGeometry ? geometry.attributes.position.array : geometry.vertices;
var size = geometry.isBufferGeometry ? verts.length / 3 : verts.length;
if (!geometry.boundingBox) geometry.computeBoundingBox();
var xsize = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
var ysize = geometry.boundingBox.max.z - geometry.boundingBox.min.z;
data.xpts = typeof xdiv === 'undefined' ? Math.sqrt(size) : xdiv + 1;
data.ypts = typeof ydiv === 'undefined' ? Math.sqrt(size) : ydiv + 1;
// note - this assumes our plane geometry is square, unless we pass in specific xdiv and ydiv
data.absMaxHeight = Math.max(geometry.boundingBox.max.y, Math.abs(geometry.boundingBox.min.y));
var points = new Float32Array(size),
xpts = data.xpts,
ypts = data.ypts;
while (size--) {
var vNum = size % xpts + (ypts - Math.round(size / xpts - size % xpts / xpts) - 1) * ypts;
if (geometry.isBufferGeometry) points[size] = verts[vNum * 3 + 1];else points[size] = verts[vNum].y;
}
data.points = points;
data.scale.multiply(new three.Vector3(xsize / (xpts - 1), 1, ysize / (ypts - 1)));
if (data.autoAlign) geometry.translate(xsize / -2, 0, ysize / -2);
});
return _this;
}
return HeightfieldModule;
}(_default);
var PlaneModule = function (_PhysicsModule) {
inherits(PlaneModule, _PhysicsModule);
function PlaneModule(params) {
classCallCheck(this, PlaneModule);
var _this = possibleConstructorReturn(this, (PlaneModule.__proto__ || Object.getPrototypeOf(PlaneModule)).call(this, _extends({
type: 'plane'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingBox) geometry.computeBoundingBox();
data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;
data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;
data.normal = data.normal || geometry.faces[0].normal.clone();
});
return _this;
}
return PlaneModule;
}(_default);
var SphereModule = function (_PhysicsModule) {
inherits(SphereModule, _PhysicsModule);
function SphereModule(params) {
classCallCheck(this, SphereModule);
var _this = possibleConstructorReturn(this, (SphereModule.__proto__ || Object.getPrototypeOf(SphereModule)).call(this, _extends({
type: 'sphere'
}, _default.rigidbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.boundingSphere) geometry.computeBoundingSphere();
data.radius = data.radius || geometry.boundingSphere.radius;
});
return _this;
}
return SphereModule;
}(_default);
var SoftbodyModule = function (_PhysicsModule) {
inherits(SoftbodyModule, _PhysicsModule);
function SoftbodyModule(params) {
classCallCheck(this, SoftbodyModule);
var _this = possibleConstructorReturn(this, (SoftbodyModule.__proto__ || Object.getPrototypeOf(SoftbodyModule)).call(this, _extends({
type: 'softTrimesh'
}, _default.softbody()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
var idxGeometry = geometry.isBufferGeometry ? geometry : function () {
geometry.mergeVertices();
var bufferGeometry = new three.BufferGeometry();
bufferGeometry.addAttribute('position', new three.BufferAttribute(new Float32Array(geometry.vertices.length * 3), 3).copyVector3sArray(geometry.vertices));
bufferGeometry.setIndex(new three.BufferAttribute(new (geometry.faces.length * 3 > 65535 ? Uint32Array : Uint16Array)(geometry.faces.length * 3), 1).copyIndicesArray(geometry.faces));
return bufferGeometry;
}();
data.aVertices = idxGeometry.attributes.position.array;
data.aIndices = idxGeometry.index.array;
return new three.BufferGeometry().fromGeometry(geometry);
});
return _this;
}
createClass(SoftbodyModule, [{
key: 'appendAnchor',
value: function appendAnchor(object, node) {
var influence = arguments.length > 2 && arguments[2] !== undefined ? arguments[2] : 1;
var collisionBetweenLinkedBodies = arguments.length > 3 && arguments[3] !== undefined ? arguments[3] : true;
var o1 = this.data.id;
var o2 = object.use('physics').data.id;
this.execute('appendAnchor', {
obj: o1,
obj2: o2,
node: node,
influence: influence,
collisionBetweenLinkedBodies: collisionBetweenLinkedBodies
});
}
}]);
return SoftbodyModule;
}(_default);
function arrayMax(array) {
if (array.length === 0) return -Infinity;
var max = array[0];
for (var i = 1, l = array.length; i < l; ++i) {
if (array[i] > max) max = array[i];
}
return max;
}
var ClothModule = function (_PhysicsModule) {
inherits(ClothModule, _PhysicsModule);
function ClothModule(params) {
classCallCheck(this, ClothModule);
var _this = possibleConstructorReturn(this, (ClothModule.__proto__ || Object.getPrototypeOf(ClothModule)).call(this, _extends({
type: 'softClothMesh'
}, _default.cloth()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
var geomParams = geometry.parameters;
var geom = geometry.isBufferGeometry ? geometry : function () {
geometry.mergeVertices();
var bufferGeometry = new three.BufferGeometry();
bufferGeometry.addAttribute('position', new three.BufferAttribute(new Float32Array(geometry.vertices.length * 3), 3).copyVector3sArray(geometry.vertices));
var faces = geometry.faces,
facesLength = faces.length,
uvs = geometry.faceVertexUvs[0];
var normalsArray = new Float32Array(facesLength * 3);
// const uvsArray = new Array(geometry.vertices.length * 2);
var uvsArray = new Float32Array(facesLength * 2);
var faceArray = new Uint32Array(facesLength * 3);
for (var i = 0; i < facesLength; i++) {
var i3 = i * 3;
var normal = faces[i].normal || new Vector3();
faceArray[i3] = faces[i].a;
faceArray[i3 + 1] = faces[i].b;
faceArray[i3 + 2] = faces[i].c;
normalsArray[i3] = normal.x;
normalsArray[i3 + 1] = normal.y;
normalsArray[i3 + 2] = normal.z;
uvsArray[faces[i].a * 2 + 0] = uvs[i][0].x; // a
uvsArray[faces[i].a * 2 + 1] = uvs[i][0].y;
uvsArray[faces[i].b * 2 + 0] = uvs[i][1].x; // b
uvsArray[faces[i].b * 2 + 1] = uvs[i][1].y;
uvsArray[faces[i].c * 2 + 0] = uvs[i][2].x; // c
uvsArray[faces[i].c * 2 + 1] = uvs[i][2].y;
}
bufferGeometry.addAttribute('normal', new three.BufferAttribute(normalsArray, 3));
bufferGeometry.addAttribute('uv', new three.BufferAttribute(uvsArray, 2));
bufferGeometry.setIndex(new three.BufferAttribute(new (arrayMax(faces) * 3 > 65535 ? Uint32Array : Uint16Array)(facesLength * 3), 1).copyIndicesArray(faces));
return bufferGeometry;
}();
var verts = geom.attributes.position.array;
if (!geomParams.widthSegments) geomParams.widthSegments = 1;
if (!geomParams.heightSegments) geomParams.heightSegments = 1;
var idx00 = 0;
var idx01 = geomParams.widthSegments;
var idx10 = (geomParams.heightSegments + 1) * (geomParams.widthSegments + 1) - (geomParams.widthSegments + 1);
var idx11 = verts.length / 3 - 1;
data.corners = [verts[idx01 * 3], verts[idx01 * 3 + 1], verts[idx01 * 3 + 2], // ╗
verts[idx00 * 3], verts[idx00 * 3 + 1], verts[idx00 * 3 + 2], // ╔
verts[idx11 * 3], verts[idx11 * 3 + 1], verts[idx11 * 3 + 2], // ╝
verts[idx10 * 3], verts[idx10 * 3 + 1], verts[idx10 * 3 + 2]];
data.segments = [geomParams.widthSegments + 1, geomParams.heightSegments + 1];
return geom;
});
return _this;
}
createClass(ClothModule, [{
key: 'appendAnchor',
value: function appendAnchor(object, node, influence) {
var collisionBetweenLinkedBodies = arguments.length > 3 && arguments[3] !== undefined ? arguments[3] : true;
var o1 = this.data.id;
var o2 = object.use('physics').data.id;
this.execute('appendAnchor', {
obj: o1,
obj2: o2,
node: node,
influence: influence,
collisionBetweenLinkedBodies: collisionBetweenLinkedBodies
});
}
}, {
key: 'linkNodes',
value: function linkNodes(object, n1, n2, modifier) {
var self = this.data.id;
var body = object.use('physics').data.id;
this.execute('linkNodes', {
self: self,
body: body,
n1: n1, // self node
n2: n2, // body node
modifier: modifier
});
}
}, {
key: 'appendLinearJoint',
value: function appendLinearJoint(object, specs) {
var self = this.data.id;
var body = object.use('physics').data.id;
this.execute('appendLinearJoint', {
self: self,
body: body,
specs: specs
});
}
}]);
return ClothModule;
}(_default);
var RopeModule = function (_PhysicsModule) {
inherits(RopeModule, _PhysicsModule);
function RopeModule(params) {
classCallCheck(this, RopeModule);
var _this = possibleConstructorReturn(this, (RopeModule.__proto__ || Object.getPrototypeOf(RopeModule)).call(this, _extends({
type: 'softRopeMesh'
}, _default.rope()), params));
_this.updateData(function (geometry, _ref) {
var data = _ref.data;
if (!geometry.isBufferGeometry) {
geometry = function () {
var buff = new three.BufferGeometry();
buff.addAttribute('position', new three.BufferAttribute(new Float32Array(geometry.vertices.length * 3), 3).copyVector3sArray(geometry.vertices));
return buff;
}();
}
var length = geometry.attributes.position.array.length / 3;
var vert = function vert(n) {
return new three.Vector3().fromArray(geometry.attributes.position.array, n * 3);
};
var v1 = vert(0);
var v2 = vert(length - 1);
data.data = [v1.x, v1.y, v1.z, v2.x, v2.y, v2.z, length];
return geometry;
});
return _this;
}
createClass(RopeModule, [{
key: 'appendAnchor',
value: function appendAnchor(object, node, influence) {
var collisionBetweenLinkedBodies = arguments.length > 3 && arguments[3] !== undefined ? arguments[3] : true;
var o1 = this.data.id;
var o2 = object.use('physics').data.id;
this.execute('appendAnchor', {
obj: o1,
obj2: o2,
node: node,
influence: influence,
collisionBetweenLinkedBodies: collisionBetweenLinkedBodies
});
}
}]);
return RopeModule;
}(_default);
var _class$2, _temp$1;
var PI_2 = Math.PI / 2;
// TODO: Fix DOM
function FirstPersonControlsSolver(camera, mesh, params) {
var _this = this;
var velocityFactor = 1;
var runVelocity = 0.25;
mesh.use('physics').setAngularFactor({ x: 0, y: 0, z: 0 });
camera.position.set(0, 0, 0);
/* Init */
var player = mesh,
pitchObject = new three.Object3D();
pitchObject.add(camera.native);
var yawObject = new three.Object3D();
yawObject.position.y = params.ypos; // eyes are 2 meters above the ground
yawObject.add(pitchObject);
var quat = new three.Quaternion();
var canJump = false,
// Moves.
moveForward = false,
moveBackward = false,
moveLeft = false,
moveRight = false;
player.on('collision', function (otherObject, v, r, contactNormal) {
console.log(contactNormal.y);
if (contactNormal.y < 0.5) // Use a "good" threshold value between 0 and 1 here!
canJump = true;
});
var onMouseMove = function onMouseMove(event) {
if (_this.enabled === false) return;
var movementX = typeof event.movementX === 'number' ? event.movementX : typeof event.mozMovementX === 'number' ? event.mozMovementX : typeof event.getMovementX === 'function' ? event.getMovementX() : 0;
var movementY = typeof event.movementY === 'number' ? event.movementY : typeof event.mozMovementY === 'number' ? event.mozMovementY : typeof event.getMovementY === 'function' ? event.getMovementY() : 0;
yawObject.rotation.y -= movementX * 0.002;
pitchObject.rotation.x -= movementY * 0.002;
pitchObject.rotation.x = Math.max(-PI_2, Math.min(PI_2, pitchObject.rotation.x));
};
var physics = player.use('physics');
var onKeyDown = function onKeyDown(event) {
switch (event.keyCode) {
case 38: // up
case 87:
// w
moveForward = true;
break;
case 37: // left
case 65:
// a
moveLeft = true;
break;
case 40: // down
case 83:
// s
moveBackward = true;
break;
case 39: // right
case 68:
// d
moveRight = true;
break;
case 32:
// space
console.log(canJump);
if (canJump === true) physics.applyCentralImpulse({ x: 0, y: 300, z: 0 });
canJump = false;
break;
case 16:
// shift
runVelocity = 0.5;
break;
default:
}
};
var onKeyUp = function onKeyUp(event) {
switch (event.keyCode) {
case 38: // up
case 87:
// w
moveForward = false;
break;
case 37: // left
case 65:
// a
moveLeft = false;
break;
case 40: // down
case 83:
// a
moveBackward = false;
break;
case 39: // right
case 68:
// d
moveRight = false;
break;
case 16:
// shift
runVelocity = 0.25;
break;
default:
}
};
document.body.addEventListener('mousemove', onMouseMove, false);
document.body.addEventListener('keydown', onKeyDown, false);
document.body.addEventListener('keyup', onKeyUp, false);
this.enabled = false;
this.getObject = function () {
return yawObject;
};
this.getDirection = function (targetVec) {
targetVec.set(0, 0, -1);
quat.multiplyVector3(targetVec);
};
// Moves the camera to the Physi.js object position
// and adds velocity to the object if the run key is down.
var inputVelocity = new three.Vector3(),
euler = new three.Euler();
this.update = function (delta) {
if (_this.enabled === false) return;
delta = delta || 0.5;
delta = Math.min(delta, 0.5, delta);
inputVelocity.set(0, 0, 0);
var speed = velocityFactor * delta * params.speed * runVelocity;
if (moveForward) inputVelocity.z = -speed;
if (moveBackward) inputVelocity.z = speed;
if (moveLeft) inputVelocity.x = -speed;
if (moveRight) inputVelocity.x = speed;
// Convert velocity to world coordinates
euler.x = pitchObject.rotation.x;
euler.y = yawObject.rotation.y;
euler.order = 'XYZ';
quat.setFromEuler(euler);
inputVelocity.applyQuaternion(quat);
physics.applyCentralImpulse({ x: inputVelocity.x, y: 0, z: inputVelocity.z });
physics.setAngularVelocity({ x: inputVelocity.z, y: 0, z: -inputVelocity.x });
physics.setAngularFactor({ x: 0, y: 0, z: 0 });
};
player.on('physics:added', function () {
player.manager.get('module:world').addEventListener('update', function () {
if (_this.enabled === false) return;
yawObject.position.copy(player.position);
});
});
}
var FirstPersonModule = (_temp$1 = _class$2 = function () {
function FirstPersonModule(object) {
var params = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {};
classCallCheck(this, FirstPersonModule);
this.object = object;
this.params = params;
if (!this.params.block) {
this.params.block = document.getElementById('blocker');
}
}
createClass(FirstPersonModule, [{
key: 'manager',
value: function manager(_manager) {
var _this2 = this;
this.controls = new FirstPersonControlsSolver(_manager.get('camera'), this.object, this.params);
if ('pointerLockElement' in document || 'mozPointerLockElement' in document || 'webkitPointerLockElement' in document) {
var element = document.body;
var pointerlockchange = function pointerlockchange() {
if (document.pointerLockElement === element || document.mozPointerLockElement === element || document.webkitPointerLockElement === element) {
_this2.controls.enabled = true;
_this2.params.block.style.display = 'none';
} else {
_this2.controls.enabled = false;
_this2.params.block.style.display = 'block';
}
};
document.addEventListener('pointerlockchange', pointerlockchange, false);
document.addEventListener('mozpointerlockchange', pointerlockchange, false);
document.addEventListener('webkitpointerlockchange', pointerlockchange, false);
var pointerlockerror = function pointerlockerror() {
console.warn('Pointer lock error.');
};
document.addEventListener('pointerlockerror', pointerlockerror, false);
document.addEventListener('mozpointerlockerror', pointerlockerror, false);
document.addEventListener('webkitpointerlockerror', pointerlockerror, false);
document.querySelector('body').addEventListener('click', function () {
element.requestPointerLock = element.requestPointerLock || element.mozRequestPointerLock || element.webkitRequestPointerLock;
element.requestFullscreen = element.requestFullscreen || element.mozRequestFullscreen || element.mozRequestFullScreen || element.webkitRequestFullscreen;
if (/Firefox/i.test(navigator.userAgent)) {
var fullscreenchange = function fullscreenchange() {
if (document.fullscreenElement === element || document.mozFullscreenElement === element || document.mozFullScreenElement === element) {
document.removeEventListener('fullscreenchange', fullscreenchange);
document.removeEventListener('mozfullscreenchange', fullscreenchange);
element.requestPointerLock();
}
};
document.addEventListener('fullscreenchange', fullscreenchange, false);
document.addEventListener('mozfullscreenchange', fullscreenchange, false);
element.requestFullscreen();
} else element.requestPointerLock();
});
} else console.warn('Your browser does not support the PointerLock');
_manager.get('scene').add(this.controls.getObject());
}
}, {
key: 'integrate',
value: function integrate(self) {
var updateProcessor = function updateProcessor(c) {
self.controls.update(c.getDelta());
};
self.updateLoop = new whs.Loop(updateProcessor).start(this);
}
}]);
return FirstPersonModule;
}(), _class$2.defaults = {
block: null,
speed: 1,
ypos: 1
}, _temp$1);
exports.getEulerXYZFromQuaternion = getEulerXYZFromQuaternion;
exports.getQuatertionFromEuler = getQuatertionFromEuler;
exports.convertWorldPositionToObject = convertWorldPositionToObject;
exports.addObjectChildren = addObjectChildren;
exports.MESSAGE_TYPES = MESSAGE_TYPES;
exports.REPORT_ITEMSIZE = REPORT_ITEMSIZE;
exports.COLLISIONREPORT_ITEMSIZE = COLLISIONREPORT_ITEMSIZE;
exports.VEHICLEREPORT_ITEMSIZE = VEHICLEREPORT_ITEMSIZE;
exports.CONSTRAINTREPORT_ITEMSIZE = CONSTRAINTREPORT_ITEMSIZE;
exports.temp1Vector3 = temp1Vector3;
exports.temp2Vector3 = temp2Vector3;
exports.temp1Matrix4 = temp1Matrix4;
exports.temp1Quat = temp1Quat;
exports.Eventable = Eventable;
exports.ConeTwistConstraint = ConeTwistConstraint;
exports.HingeConstraint = HingeConstraint;
exports.PointConstraint = PointConstraint;
exports.SliderConstraint = SliderConstraint;
exports.DOFConstraint = DOFConstraint;
exports.WorldModule = WorldModule;
exports.BoxModule = BoxModule;
exports.CompoundModule = CompoundModule;
exports.CapsuleModule = CapsuleModule;
exports.ConcaveModule = ConcaveModule;
exports.ConeModule = ConeModule;
exports.ConvexModule = ConvexModule;
exports.CylinderModule = CylinderModule;
exports.HeightfieldModule = HeightfieldModule;
exports.PlaneModule = PlaneModule;
exports.SphereModule = SphereModule;
exports.SoftbodyModule = SoftbodyModule;
exports.ClothModule = ClothModule;
exports.RopeModule = RopeModule;
exports.FirstPersonModule = FirstPersonModule;
Object.defineProperty(exports, '__esModule', { value: true });
})));
//# sourceMappingURL=data:application/json;charset=utf-8;base64,{"version":3,"file":"physics-module.js.map","sources":["../src/api.js","../src/eventable.js","../src/constraints/ConeTwistConstraint.js","../src/constraints/HingeConstraint.js","../src/constraints/PointConstraint.js","../src/constraints/SliderConstraint.js","../src/constraints/DOFConstraint.js","../src/vehicle/vehicle.js","../src/modules/core/WorldModuleBase.js","../bundle-worker/workerhelper.js","../src/worker.js","../src/modules/WorldModule.js","../src/modules/core/PhysicsModule.js","../src/modules/BoxModule.js","../src/modules/CompoundModule.js","../src/modules/CapsuleModule.js","../src/modules/ConcaveModule.js","../src/modules/ConeModule.js","../src/modules/ConvexModule.js","../src/modules/CylinderModule.js","../src/modules/HeightfieldModule.js","../src/modules/PlaneModule.js","../src/modules/SphereModule.js","../src/modules/SoftbodyModule.js","../src/modules/ClothModule.js","../src/modules/RopeModule.js","../src/modules/controls/FirstPersonModule.js"],"sourcesContent":["import {\n  Vector3,\n  Matrix4,\n  Quaternion\n} from 'three';\n\nconst MESSAGE_TYPES = {\n  WORLDREPORT: 0,\n  COLLISIONREPORT: 1,\n  VEHICLEREPORT: 2,\n  CONSTRAINTREPORT: 3,\n  SOFTREPORT: 4\n};\n\nconst REPORT_ITEMSIZE = 14,\n  COLLISIONREPORT_ITEMSIZE = 5,\n  VEHICLEREPORT_ITEMSIZE = 9,\n  CONSTRAINTREPORT_ITEMSIZE = 6;\n\nconst temp1Vector3 = new Vector3(),\n  temp2Vector3 = new Vector3(),\n  temp1Matrix4 = new Matrix4(),\n  temp1Quat = new Quaternion();\n\nconst getEulerXYZFromQuaternion = (x, y, z, w) => {\n  return new Vector3(\n    Math.atan2(2 * (x * w - y * z), (w * w - x * x - y * y + z * z)),\n    Math.asin(2 * (x * z + y * w)),\n    Math.atan2(2 * (z * w - x * y), (w * w + x * x - y * y - z * z))\n  );\n};\n\nconst getQuatertionFromEuler = (x, y, z) => {\n  const c1 = Math.cos(y);\n  const s1 = Math.sin(y);\n  const c2 = Math.cos(-z);\n  const s2 = Math.sin(-z);\n  const c3 = Math.cos(x);\n  const s3 = Math.sin(x);\n  const c1c2 = c1 * c2;\n  const s1s2 = s1 * s2;\n\n  return {\n    w: c1c2 * c3 - s1s2 * s3,\n    x: c1c2 * s3 + s1s2 * c3,\n    y: s1 * c2 * c3 + c1 * s2 * s3,\n    z: c1 * s2 * c3 - s1 * c2 * s3\n  };\n};\n\nconst convertWorldPositionToObject = (position, object) => {\n  temp1Matrix4.identity(); // reset temp matrix\n\n  // Set the temp matrix's rotation to the object's rotation\n  temp1Matrix4.identity().makeRotationFromQuaternion(object.quaternion);\n\n  // Invert rotation matrix in order to \"unrotate\" a point back to object space\n  temp1Matrix4.getInverse(temp1Matrix4);\n\n  // Yay! Temp vars!\n  temp1Vector3.copy(position);\n  temp2Vector3.copy(object.position);\n\n  // Apply the rotation\n  return temp1Vector3.sub(temp2Vector3).applyMatrix4(temp1Matrix4);\n};\n\nconst addObjectChildren = function (parent, object) {\n  for (let i = 0; i < object.children.length; i++) {\n    const child = object.children[i];\n    const physics = child.component ? child.component.use('physics') : false;\n\n    if (physics) {\n      const data = physics.data;\n\n      child.updateMatrix();\n      child.updateMatrixWorld();\n\n      temp1Vector3.setFromMatrixPosition(child.matrixWorld);\n      temp1Quat.setFromRotationMatrix(child.matrixWorld);\n\n      data.position_offset = {\n        x: temp1Vector3.x,\n        y: temp1Vector3.y,\n        z: temp1Vector3.z\n      };\n\n      data.rotation = {\n        x: temp1Quat.x,\n        y: temp1Quat.y,\n        z: temp1Quat.z,\n        w: temp1Quat.w\n      };\n\n      parent.component.use('physics').data.children.push(data);\n    }\n\n    addObjectChildren(parent, child);\n  }\n};\n\nexport {\n  getEulerXYZFromQuaternion,\n  getQuatertionFromEuler,\n  convertWorldPositionToObject,\n  addObjectChildren,\n\n  MESSAGE_TYPES,\n  REPORT_ITEMSIZE,\n  COLLISIONREPORT_ITEMSIZE,\n  VEHICLEREPORT_ITEMSIZE,\n  CONSTRAINTREPORT_ITEMSIZE,\n\n  temp1Vector3,\n  temp2Vector3,\n  temp1Matrix4,\n  temp1Quat\n};\n","export class Eventable {\n  constructor() {\n    this._eventListeners = {};\n  }\n\n  addEventListener(event_name, callback) {\n    if (!this._eventListeners.hasOwnProperty(event_name))\n      this._eventListeners[event_name] = [];\n\n    this._eventListeners[event_name].push(callback);\n  }\n\n  removeEventListener(event_name, callback) {\n    let index;\n\n    if (!this._eventListeners.hasOwnProperty(event_name)) return false;\n\n    if ((index = this._eventListeners[event_name].indexOf(callback)) >= 0) {\n      this._eventListeners[event_name].splice(index, 1);\n      return true;\n    }\n\n    return false;\n  }\n\n  dispatchEvent(event_name) {\n    let i;\n    const parameters = Array.prototype.splice.call(arguments, 1);\n\n    if (this._eventListeners.hasOwnProperty(event_name)) {\n      for (i = 0; i < this._eventListeners[event_name].length; i++)\n        this._eventListeners[event_name][i].apply(this, parameters);\n    }\n  }\n\n  static make(obj) {\n    obj.prototype.addEventListener = Eventable.prototype.addEventListener;\n    obj.prototype.removeEventListener = Eventable.prototype.removeEventListener;\n    obj.prototype.dispatchEvent = Eventable.prototype.dispatchEvent;\n  }\n}\n","import { convertWorldPositionToObject } from '../api';\nimport { Euler, Matrix4, Quaternion, Vector3 } from 'three';\n\nexport class ConeTwistConstraint {\n  constructor(obja, objb, position) {\n    const objecta = obja;\n    const objectb = obja;\n\n    if (position === undefined) console.error('Both objects must be defined in a ConeTwistConstraint.');\n\n    this.type = 'conetwist';\n    this.appliedImpulse = 0;\n    this.worldModule = null; // Will be redefined by .addConstraint\n    this.objecta = objecta.use('physics').data.id;\n    this.positiona = convertWorldPositionToObject(position, objecta).clone();\n    this.objectb = objectb.use('physics').data.id;\n    this.positionb = convertWorldPositionToObject(position, objectb).clone();\n    this.axisa = {x: objecta.rotation.x, y: objecta.rotation.y, z: objecta.rotation.z};\n    this.axisb = {x: objectb.rotation.x, y: objectb.rotation.y, z: objectb.rotation.z};\n  }\n\n  getDefinition() {\n    return {\n      type: this.type,\n      id: this.id,\n      objecta: this.objecta,\n      objectb: this.objectb,\n      positiona: this.positiona,\n      positionb: this.positionb,\n      axisa: this.axisa,\n      axisb: this.axisb\n    };\n  }\n\n  setLimit(x, y, z) {\n    if(this.worldModule) this.worldModule.execute('conetwist_setLimit', {constraint: this.id, x, y, z});\n  }\n\n  enableMotor() {\n    if(this.worldModule) this.worldModule.execute('conetwist_enableMotor', {constraint: this.id});\n  }\n\n  setMaxMotorImpulse(max_impulse) {\n    if(this.worldModule) this.worldModule.execute('conetwist_setMaxMotorImpulse', {constraint: this.id, max_impulse});\n  }\n\n  setMotorTarget(target) {\n    if (target instanceof Vector3)\n      target = new Quaternion().setFromEuler(new Euler(target.x, target.y, target.z));\n    else if (target instanceof Euler)\n      target = new Quaternion().setFromEuler(target);\n    else if (target instanceof Matrix4)\n      target = new Quaternion().setFromRotationMatrix(target);\n\n    if(this.worldModule) this.worldModule.execute('conetwist_setMotorTarget', {\n      constraint: this.id,\n      x: target.x,\n      y: target.y,\n      z: target.z,\n      w: target.w\n    });\n  }\n}\n","import {convertWorldPositionToObject} from '../api';\n\nexport class HingeConstraint {\n  constructor(obja, objb, position, axis) {\n    const objecta = obja;\n    let objectb = objb;\n\n    if (axis === undefined) {\n      axis = position;\n      position = objectb;\n      objectb = undefined;\n    }\n\n    this.type = 'hinge';\n    this.appliedImpulse = 0;\n    this.worldModule = null; // Will be redefined by .addConstraint\n    this.objecta = objecta.use('physics').data.id;\n    this.positiona = convertWorldPositionToObject(position, objecta).clone();\n    this.position = position.clone();\n    this.axis = axis;\n\n    if (objectb) {\n      this.objectb = objectb.use('physics').data.id;\n      this.positionb = convertWorldPositionToObject(position, objectb).clone();\n    }\n  }\n\n  getDefinition() {\n    return {\n      type: this.type,\n      id: this.id,\n      objecta: this.objecta,\n      objectb: this.objectb,\n      positiona: this.positiona,\n      positionb: this.positionb,\n      axis: this.axis\n    };\n  }\n\n  setLimits(low, high, bias_factor, relaxation_factor) {\n    if (this.worldModule) this.worldModule.execute('hinge_setLimits', {\n      constraint: this.id,\n      low,\n      high,\n      bias_factor,\n      relaxation_factor\n    });\n  }\n\n  enableAngularMotor(velocity, acceleration) {\n    if (this.worldModule) this.worldModule.execute('hinge_enableAngularMotor', {\n      constraint: this.id,\n      velocity,\n      acceleration\n    });\n  }\n\n  disableMotor() {\n    if (this.worldModule) this.worldModule.execute('hinge_disableMotor', {constraint: this.id});\n  }\n}\n","import {convertWorldPositionToObject} from '../api';\n\nexport class PointConstraint {\n  constructor(obja, objb, position) {\n    const objecta = obja;\n    let objectb = objb;\n\n    if (position === undefined) {\n      position = objectb;\n      objectb = undefined;\n    }\n\n    this.type = 'point';\n    this.appliedImpulse = 0;\n    this.objecta = objecta.use('physics').data.id;\n    this.positiona = convertWorldPositionToObject(position, objecta).clone();\n\n    if (objectb) {\n      this.objectb = objectb.use('physics').data.id;\n      this.positionb = convertWorldPositionToObject(position, objectb).clone();\n    }\n  }\n\n  getDefinition() {\n    return {\n      type: this.type,\n      id: this.id,\n      objecta: this.objecta,\n      objectb: this.objectb,\n      positiona: this.positiona,\n      positionb: this.positionb\n    };\n  }\n}\n","import {convertWorldPositionToObject} from '../api';\n\nexport class SliderConstraint {\n  constructor(obja, objb, position, axis) {\n    const objecta = obja;\n    let objectb = objb;\n\n    if (axis === undefined) {\n      axis = position;\n      position = objectb;\n      objectb = undefined;\n    }\n\n    this.type = 'slider';\n    this.appliedImpulse = 0;\n    this.worldModule = null; // Will be redefined by .addConstraint\n    this.objecta = objecta.use('physics').data.id;\n    this.positiona = convertWorldPositionToObject(position, objecta).clone();\n    this.axis = axis;\n\n    if (objectb) {\n      this.objectb = objectb.use('physics').data.id;\n      this.positionb = convertWorldPositionToObject(position, objectb).clone();\n    }\n  }\n\n  getDefinition() {\n    return {\n      type: this.type,\n      id: this.id,\n      objecta: this.objecta,\n      objectb: this.objectb,\n      positiona: this.positiona,\n      positionb: this.positionb,\n      axis: this.axis\n    };\n  }\n\n  setLimits(lin_lower, lin_upper, ang_lower, ang_upper) {\n    if (this.worldModule) this.worldModule.execute('slider_setLimits', {\n      constraint: this.id,\n      lin_lower,\n      lin_upper,\n      ang_lower,\n      ang_upper\n    });\n  }\n\n  setRestitution(linear, angular) {\n    if (this.worldModule) this.worldModule.execute(\n      'slider_setRestitution',\n      {\n        constraint: this.id,\n        linear,\n        angular\n      }\n    );\n  }\n\n  enableLinearMotor(velocity, acceleration) {\n    if (this.worldModule) this.worldModule.execute('slider_enableLinearMotor', {\n      constraint: this.id,\n      velocity,\n      acceleration\n    });\n  }\n\n  disableLinearMotor() {\n    if (this.worldModule) this.worldModule.execute('slider_disableLinearMotor', {constraint: this.id});\n  }\n\n  enableAngularMotor(velocity, acceleration) {\n    this.scene.execute('slider_enableAngularMotor', {\n      constraint: this.id,\n      velocity,\n      acceleration\n    });\n  }\n\n  disableAngularMotor() {\n    if (this.worldModule) this.worldModule.execute('slider_disableAngularMotor', {constraint: this.id});\n  }\n}\n","import {convertWorldPositionToObject} from '../api';\n\nexport class DOFConstraint {\n  constructor(obja, objb, position) {\n    const objecta = obja;\n    let objectb = objb;\n\n    if ( position === undefined ) {\n      position = objectb;\n      objectb = undefined;\n    }\n\n    this.type = 'dof';\n    this.appliedImpulse = 0;\n    this.worldModule = null; // Will be redefined by .addConstraint\n    this.objecta = objecta.use('physics').data.id;\n    this.positiona = convertWorldPositionToObject( position, objecta ).clone();\n    this.axisa = { x: objecta.rotation.x, y: objecta.rotation.y, z: objecta.rotation.z };\n\n    if ( objectb ) {\n      this.objectb = objectb.use('physics').data.id;\n      this.positionb = convertWorldPositionToObject( position, objectb ).clone();\n      this.axisb = { x: objectb.rotation.x, y: objectb.rotation.y, z: objectb.rotation.z };\n    }\n  }\n\n  getDefinition() {\n    return {\n      type: this.type,\n      id: this.id,\n      objecta: this.objecta,\n      objectb: this.objectb,\n      positiona: this.positiona,\n      positionb: this.positionb,\n      axisa: this.axisa,\n      axisb: this.axisb\n    };\n  }\n\n  setLinearLowerLimit(limit) {\n    if (this.worldModule) this.worldModule.execute( 'dof_setLinearLowerLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );\n  }\n\n  setLinearUpperLimit (limit) {\n    if (this.worldModule) this.worldModule.execute( 'dof_setLinearUpperLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );\n  }\n\n  setAngularLowerLimit (limit) {\n    if (this.worldModule) this.worldModule.execute( 'dof_setAngularLowerLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );\n  }\n\n  setAngularUpperLimit (limit) {\n    if (this.worldModule) this.worldModule.execute( 'dof_setAngularUpperLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );\n  }\n\n  enableAngularMotor (which) {\n    if (this.worldModule) this.worldModule.execute( 'dof_enableAngularMotor', { constraint: this.id, which: which } );\n  }\n\n  configureAngularMotor (which, low_angle, high_angle, velocity, max_force ) {\n    if (this.worldModule) this.worldModule.execute( 'dof_configureAngularMotor', { constraint: this.id, which: which, low_angle: low_angle, high_angle: high_angle, velocity: velocity, max_force: max_force } );\n  }\n\n  disableAngularMotor (which) {\n    if (this.worldModule) this.worldModule.execute( 'dof_disableAngularMotor', { constraint: this.id, which: which } );\n  }\n}\n","import {Mesh} from 'three';\nimport {VehicleTunning} from './tunning';\n\nexport class Vehicle {\n  constructor(mesh, tuning = new VehicleTuning()) {\n    this.mesh = mesh;\n    this.wheels = [];\n\n    this._physijs = {\n      id: getObjectId(),\n      rigidBody: mesh._physijs.id,\n      suspension_stiffness: tuning.suspension_stiffness,\n      suspension_compression: tuning.suspension_compression,\n      suspension_damping: tuning.suspension_damping,\n      max_suspension_travel: tuning.max_suspension_travel,\n      friction_slip: tuning.friction_slip,\n      max_suspension_force: tuning.max_suspension_force\n    };\n  }\n\n  addWheel(wheel_geometry, wheel_material, connection_point, wheel_direction, wheel_axle, suspension_rest_length, wheel_radius, is_front_wheel, tuning) {\n    const wheel = new Mesh(wheel_geometry, wheel_material);\n\n    wheel.castShadow = wheel.receiveShadow = true;\n    wheel.position.copy(wheel_direction).multiplyScalar(suspension_rest_length / 100).add(connection_point);\n\n    this.world.add(wheel);\n    this.wheels.push(wheel);\n\n    this.world.execute('addWheel', {\n      id: this._physijs.id,\n      connection_point: {x: connection_point.x, y: connection_point.y, z: connection_point.z},\n      wheel_direction: {x: wheel_direction.x, y: wheel_direction.y, z: wheel_direction.z},\n      wheel_axle: {x: wheel_axle.x, y: wheel_axle.y, z: wheel_axle.z},\n      suspension_rest_length,\n      wheel_radius,\n      is_front_wheel,\n      tuning\n    });\n  }\n\n  setSteering(amount, wheel) {\n    if (wheel !== undefined && this.wheels[wheel] !== undefined)\n      this.world.execute('setSteering', {id: this._physijs.id, wheel, steering: amount});\n    else if (this.wheels.length > 0) {\n      for (let i = 0; i < this.wheels.length; i++)\n        this.world.execute('setSteering', {id: this._physijs.id, wheel: i, steering: amount});\n    }\n  }\n\n  setBrake(amount, wheel) {\n    if (wheel !== undefined && this.wheels[wheel] !== undefined)\n      this.world.execute('setBrake', {id: this._physijs.id, wheel, brake: amount});\n    else if (this.wheels.length > 0) {\n      for (let i = 0; i < this.wheels.length; i++)\n        this.world.execute('setBrake', {id: this._physijs.id, wheel: i, brake: amount});\n    }\n  }\n\n  applyEngineForce(amount, wheel) {\n    if (wheel !== undefined && this.wheels[wheel] !== undefined)\n      this.world.execute('applyEngineForce', {id: this._physijs.id, wheel, force: amount});\n    else if (this.wheels.length > 0) {\n      for (let i = 0; i < this.wheels.length; i++)\n        this.world.execute('applyEngineForce', {id: this._physijs.id, wheel: i, force: amount});\n    }\n  }\n}\n","import {\n  Scene as SceneNative,\n  Mesh,\n  SphereGeometry,\n  MeshNormalMaterial,\n  BoxGeometry,\n  Vector3\n} from 'three';\n\nimport {Loop} from 'whs';\n\nimport {Vehicle} from '../../vehicle/vehicle';\nimport {Eventable} from '../../eventable';\n\nimport {\n  addObjectChildren,\n  MESSAGE_TYPES,\n  temp1Vector3,\n  temp1Matrix4,\n  REPORT_ITEMSIZE,\n  COLLISIONREPORT_ITEMSIZE,\n  VEHICLEREPORT_ITEMSIZE,\n  CONSTRAINTREPORT_ITEMSIZE\n} from '../../api';\n\nexport default class WorldModuleBase extends Eventable {\n  static defaults = {\n    fixedTimeStep: 1/60,\n    rateLimit: true,\n    ammo: \"\",\n    softbody: false,\n    gravity: new Vector3(0, -100, 0)\n  };\n\n  constructor(options) {\n    super();\n\n    this.options = Object.assign(WorldModuleBase.defaults, options);\n\n    this.objects = {};\n    this.vehicles = {};\n    this.constraints = {};\n    this.isSimulating = false;\n\n    this.getObjectId = (() => {\n      let id = 1;\n      return () => {\n        return id++;\n      };\n    })();\n  }\n\n  setup() {\n    this.receive(event => {\n      let _temp,\n        data = event.data;\n\n      if (data instanceof ArrayBuffer && data.byteLength !== 1)// byteLength === 1 is the worker making a SUPPORT_TRANSFERABLE test\n        data = new Float32Array(data);\n\n      if (data instanceof Float32Array) {\n        // transferable object\n        switch (data[0]) {\n          case MESSAGE_TYPES.WORLDREPORT:\n            this.updateScene(data);\n            break;\n\n          case MESSAGE_TYPES.SOFTREPORT:\n            this.updateSoftbodies(data);\n            break;\n\n          case MESSAGE_TYPES.COLLISIONREPORT:\n            this.updateCollisions(data);\n            break;\n\n          case MESSAGE_TYPES.VEHICLEREPORT:\n            this.updateVehicles(data);\n            break;\n\n          case MESSAGE_TYPES.CONSTRAINTREPORT:\n            this.updateConstraints(data);\n            break;\n          default:\n        }\n      } else if (data.cmd) {\n        // non-transferable object\n        switch (data.cmd) {\n          case 'objectReady':\n            _temp = data.params;\n            if (this.objects[_temp]) this.objects[_temp].dispatchEvent('ready');\n            break;\n\n          case 'worldReady':\n            this.dispatchEvent('ready');\n            break;\n\n          case 'ammoLoaded':\n            this.dispatchEvent('loaded');\n            // console.log(\"Physics loading time: \" + (performance.now() - start) + \"ms\");\n            break;\n\n          case 'vehicle':\n            window.test = data;\n            break;\n\n          default:\n            // Do nothing, just show the message\n            console.debug(`Received: ${data.cmd}`);\n            console.dir(data.params);\n            break;\n        }\n      } else {\n        switch (data[0]) {\n          case MESSAGE_TYPES.WORLDREPORT:\n            this.updateScene(data);\n            break;\n\n          case MESSAGE_TYPES.COLLISIONREPORT:\n            this.updateCollisions(data);\n            break;\n\n          case MESSAGE_TYPES.VEHICLEREPORT:\n            this.updateVehicles(data);\n            break;\n\n          case MESSAGE_TYPES.CONSTRAINTREPORT:\n            this.updateConstraints(data);\n            break;\n          default:\n        }\n      }\n    });\n  }\n\n  updateScene(info) {\n    let index = info[1];\n\n    while (index--) {\n      const offset = 2 + index * REPORT_ITEMSIZE;\n      const object = this.objects[info[offset]];\n      const component = object.component;\n      const data = component.use('physics').data;\n\n      if (object === null) continue;\n\n      if (component.__dirtyPosition === false) {\n        object.position.set(\n          info[offset + 1],\n          info[offset + 2],\n          info[offset + 3]\n        );\n\n        component.__dirtyPosition = false;\n      }\n\n      if (component.__dirtyRotation === false) {\n        object.quaternion.set(\n          info[offset + 4],\n          info[offset + 5],\n          info[offset + 6],\n          info[offset + 7]\n        );\n\n        component.__dirtyRotation = false;\n      }\n\n      data.linearVelocity.set(\n        info[offset + 8],\n        info[offset + 9],\n        info[offset + 10]\n      );\n\n      data.angularVelocity.set(\n        info[offset + 11],\n        info[offset + 12],\n        info[offset + 13]\n      );\n    }\n\n    if (this.SUPPORT_TRANSFERABLE)\n      this.send(info.buffer, [info.buffer]); // Give the typed array back to the worker\n\n    this.isSimulating = false;\n    this.dispatchEvent('update');\n  }\n\n  updateSoftbodies(info) {\n    let index = info[1],\n      offset = 2;\n\n    while (index--) {\n      const size = info[offset + 1];\n      const object = this.objects[info[offset]];\n\n      if (object === null) continue;\n\n      const data = object.component.use('physics').data;\n\n      const attributes = object.geometry.attributes;\n      const volumePositions = attributes.position.array;\n\n      const offsetVert = offset + 2;\n\n      // console.log(data.id);\n      if (!data.isSoftBodyReset) {\n        object.position.set(0, 0, 0);\n        object.quaternion.set(0, 0, 0, 0);\n\n        data.isSoftBodyReset = true;\n      }\n\n      if (data.type === \"softTrimesh\") {\n        const volumeNormals = attributes.normal.array;\n\n        for (let i = 0; i < size; i++) {\n          const offs = offsetVert + i * 18;\n\n          const x1 = info[offs];\n          const y1 = info[offs + 1];\n          const z1 = info[offs + 2];\n\n          const nx1 = info[offs + 3];\n          const ny1 = info[offs + 4];\n          const nz1 = info[offs + 5];\n\n          const x2 = info[offs + 6];\n          const y2 = info[offs + 7];\n          const z2 = info[offs + 8];\n\n          const nx2 = info[offs + 9];\n          const ny2 = info[offs + 10];\n          const nz2 = info[offs + 11];\n\n          const x3 = info[offs + 12];\n          const y3 = info[offs + 13];\n          const z3 = info[offs + 14];\n\n          const nx3 = info[offs + 15];\n          const ny3 = info[offs + 16];\n          const nz3 = info[offs + 17];\n\n          const i9 = i * 9;\n\n          volumePositions[i9] = x1;\n          volumePositions[i9 + 1] = y1;\n          volumePositions[i9 + 2] = z1;\n\n          volumePositions[i9 + 3] = x2;\n          volumePositions[i9 + 4] = y2;\n          volumePositions[i9 + 5] = z2;\n\n          volumePositions[i9 + 6] = x3;\n          volumePositions[i9 + 7] = y3;\n          volumePositions[i9 + 8] = z3;\n\n          volumeNormals[i9] = nx1;\n          volumeNormals[i9 + 1] = ny1;\n          volumeNormals[i9 + 2] = nz1;\n\n          volumeNormals[i9 + 3] = nx2;\n          volumeNormals[i9 + 4] = ny2;\n          volumeNormals[i9 + 5] = nz2;\n\n          volumeNormals[i9 + 6] = nx3;\n          volumeNormals[i9 + 7] = ny3;\n          volumeNormals[i9 + 8] = nz3;\n        }\n\n        attributes.normal.needsUpdate = true;\n        offset += 2 + size * 18;\n      }\n      else if (data.type === \"softRopeMesh\") {\n        for (let i = 0; i < size; i++) {\n          const offs = offsetVert + i * 3;\n\n          const x = info[offs];\n          const y = info[offs + 1];\n          const z = info[offs + 2];\n\n          volumePositions[i * 3] = x;\n          volumePositions[i * 3 + 1] = y;\n          volumePositions[i * 3 + 2] = z;\n        }\n\n        offset += 2 + size * 3;\n      } else {\n        const volumeNormals = attributes.normal.array;\n\n        for (let i = 0; i < size; i++) {\n          const offs = offsetVert + i * 6;\n\n          const x = info[offs];\n          const y = info[offs + 1];\n          const z = info[offs + 2];\n\n          const nx = info[offs + 3];\n          const ny = info[offs + 4];\n          const nz = info[offs + 5];\n\n          volumePositions[i * 3] = x;\n          volumePositions[i * 3 + 1] = y;\n          volumePositions[i * 3 + 2] = z;\n\n          // FIXME: Normals are pointed to look inside;\n          volumeNormals[i * 3] = nx;\n          volumeNormals[i * 3 + 1] = ny;\n          volumeNormals[i * 3 + 2] = nz;\n        }\n\n        attributes.normal.needsUpdate = true;\n        offset += 2 + size * 6;\n      }\n\n      attributes.position.needsUpdate = true;\n    }\n\n    // if (this.SUPPORT_TRANSFERABLE)\n    //   this.send(info.buffer, [info.buffer]); // Give the typed array back to the worker\n\n    this.isSimulating = false;\n  }\n\n  updateVehicles(data) {\n    let vehicle, wheel;\n\n    for (let i = 0; i < (data.length - 1) / VEHICLEREPORT_ITEMSIZE; i++) {\n      const offset = 1 + i * VEHICLEREPORT_ITEMSIZE;\n      vehicle = this.vehicles[data[offset]];\n\n      if (vehicle === null) continue;\n\n      wheel = vehicle.wheels[data[offset + 1]];\n\n      wheel.position.set(\n        data[offset + 2],\n        data[offset + 3],\n        data[offset + 4]\n      );\n\n      wheel.quaternion.set(\n        data[offset + 5],\n        data[offset + 6],\n        data[offset + 7],\n        data[offset + 8]\n      );\n    }\n\n    if (this.SUPPORT_TRANSFERABLE)\n      this.send(data.buffer, [data.buffer]); // Give the typed array back to the worker\n  }\n\n  updateConstraints(data) {\n    let constraint, object;\n\n    for (let i = 0; i < (data.length - 1) / CONSTRAINTREPORT_ITEMSIZE; i++) {\n      const offset = 1 + i * CONSTRAINTREPORT_ITEMSIZE;\n      constraint = this.constraints[data[offset]];\n      object = this.objects[data[offset + 1]];\n\n      if (constraint === undefined || object === undefined) continue;\n\n      temp1Vector3.set(\n        data[offset + 2],\n        data[offset + 3],\n        data[offset + 4]\n      );\n\n      temp1Matrix4.extractRotation(object.matrix);\n      temp1Vector3.applyMatrix4(temp1Matrix4);\n\n      constraint.positiona.addVectors(object.position, temp1Vector3);\n      constraint.appliedImpulse = data[offset + 5];\n    }\n\n    if (this.SUPPORT_TRANSFERABLE)\n      this.send(data.buffer, [data.buffer]); // Give the typed array back to the worker\n  }\n\n  updateCollisions(info) {\n    /**\n     * #TODO\n     * This is probably the worst way ever to handle collisions. The inherent evilness is a residual\n     * effect from the previous version's evilness which mutated when switching to transferable objects.\n     *\n     * If you feel inclined to make this better, please do so.\n     */\n\n    const collisions = {},\n      normal_offsets = {};\n\n    // Build collision manifest\n    for (let i = 0; i < info[1]; i++) {\n      const offset = 2 + i * COLLISIONREPORT_ITEMSIZE;\n      const object = info[offset];\n      const object2 = info[offset + 1];\n\n      normal_offsets[`${object}-${object2}`] = offset + 2;\n      normal_offsets[`${object2}-${object}`] = -1 * (offset + 2);\n\n      // Register collisions for both the object colliding and the object being collided with\n      if (!collisions[object]) collisions[object] = [];\n      collisions[object].push(object2);\n\n      if (!collisions[object2]) collisions[object2] = [];\n      collisions[object2].push(object);\n    }\n\n    // Deal with collisions\n    for (const id1 in this.objects) {\n      if (!this.objects.hasOwnProperty(id1)) continue;\n      const object = this.objects[id1];\n      const component = object.component;\n      const data = component.use('physics').data;\n\n      if (object === null) continue;\n\n      // If object touches anything, ...\n      if (collisions[id1]) {\n        // Clean up touches array\n        for (let j = 0; j < data.touches.length; j++) {\n          if (collisions[id1].indexOf(data.touches[j]) === -1)\n            data.touches.splice(j--, 1);\n        }\n\n        // Handle each colliding object\n        for (let j = 0; j < collisions[id1].length; j++) {\n          const id2 = collisions[id1][j];\n          const object2 = this.objects[id2];\n\n          if (object2) {\n            const component2 = object2.component;\n            const data2 = component2.use('physics').data;\n            // If object was not already touching object2, notify object\n            if (data.touches.indexOf(id2) === -1) {\n              data.touches.push(id2);\n\n              const vel = component.use('physics').getLinearVelocity();\n              const vel2 = component2.use('physics').getLinearVelocity();\n\n              temp1Vector3.subVectors(vel, vel2);\n              const temp1 = temp1Vector3.clone();\n\n              temp1Vector3.subVectors(vel, vel2);\n              const temp2 = temp1Vector3.clone();\n\n              let normal_offset = normal_offsets[`${data.id}-${data2.id}`];\n\n              if (normal_offset > 0) {\n                temp1Vector3.set(\n                  -info[normal_offset],\n                  -info[normal_offset + 1],\n                  -info[normal_offset + 2]\n                );\n              } else {\n                normal_offset *= -1;\n\n                temp1Vector3.set(\n                  info[normal_offset],\n                  info[normal_offset + 1],\n                  info[normal_offset + 2]\n                );\n              }\n\n              component.emit('collision', object2, temp1, temp2, temp1Vector3);\n            }\n          }\n        }\n      } else data.touches.length = 0; // not touching other objects\n    }\n\n    this.collisions = collisions;\n\n    if (this.SUPPORT_TRANSFERABLE)\n      this.send(info.buffer, [info.buffer]); // Give the typed array back to the worker\n  }\n\n  addConstraint(constraint, show_marker) {\n    constraint.id = this.getObjectId();\n    this.constraints[constraint.id] = constraint;\n    constraint.worldModule = this;\n    this.execute('addConstraint', constraint.getDefinition());\n\n    if (show_marker) {\n      let marker;\n\n      switch (constraint.type) {\n        case 'point':\n          marker = new Mesh(\n            new SphereGeometry(1.5),\n            new MeshNormalMaterial()\n          );\n\n          marker.position.copy(constraint.positiona);\n          this.objects[constraint.objecta].add(marker);\n          break;\n\n        case 'hinge':\n          marker = new Mesh(\n            new SphereGeometry(1.5),\n            new MeshNormalMaterial()\n          );\n\n          marker.position.copy(constraint.positiona);\n          this.objects[constraint.objecta].add(marker);\n          break;\n\n        case 'slider':\n          marker = new Mesh(\n            new BoxGeometry(10, 1, 1),\n            new MeshNormalMaterial()\n          );\n\n          marker.position.copy(constraint.positiona);\n\n          // This rotation isn't right if all three axis are non-0 values\n          // TODO: change marker's rotation order to ZYX\n          marker.rotation.set(\n            constraint.axis.y, // yes, y and\n            constraint.axis.x, // x axis are swapped\n            constraint.axis.z\n          );\n          this.objects[constraint.objecta].add(marker);\n          break;\n\n        case 'conetwist':\n          marker = new Mesh(\n            new SphereGeometry(1.5),\n            new MeshNormalMaterial()\n          );\n\n          marker.position.copy(constraint.positiona);\n          this.objects[constraint.objecta].add(marker);\n          break;\n\n        case 'dof':\n          marker = new Mesh(\n            new SphereGeometry(1.5),\n            new MeshNormalMaterial()\n          );\n\n          marker.position.copy(constraint.positiona);\n          this.objects[constraint.objecta].add(marker);\n          break;\n        default:\n      }\n    }\n\n    return constraint;\n  }\n\n  onSimulationResume() {\n    this.execute('onSimulationResume', {});\n  }\n\n  removeConstraint(constraint) {\n    if (this.constraints[constraint.id] !== undefined) {\n      this.execute('removeConstraint', {id: constraint.id});\n      delete this.constraints[constraint.id];\n    }\n  }\n\n  execute(cmd, params) {\n    this.send({cmd, params});\n  }\n\n  onAddCallback(component) {\n    const object = component.native;\n    const data = object.component.use('physics').data;\n\n    if (data) {\n      component.manager.set('module:world', this);\n      data.id = this.getObjectId();\n      object.component.use('physics').data = data;\n\n      if (object instanceof Vehicle) {\n        this.onAddCallback(object.mesh);\n        this.vehicles[data.id] = object;\n        this.execute('addVehicle', data);\n      } else {\n        component.__dirtyPosition = false;\n        component.__dirtyRotation = false;\n        this.objects[data.id] = object;\n\n        if (object.children.length) {\n          data.children = [];\n          addObjectChildren(object, object);\n        }\n\n        // object.quaternion.setFromEuler(object.rotation);\n        //\n        // console.log(object.component);\n        // console.log(object.rotation);\n\n        // Object starting position + rotation\n        data.position = {\n          x: object.position.x,\n          y: object.position.y,\n          z: object.position.z\n        };\n\n        data.rotation = {\n          x: object.quaternion.x,\n          y: object.quaternion.y,\n          z: object.quaternion.z,\n          w: object.quaternion.w\n        };\n\n        if (data.width) data.width *= object.scale.x;\n        if (data.height) data.height *= object.scale.y;\n        if (data.depth) data.depth *= object.scale.z;\n\n        this.execute('addObject', data);\n      }\n\n      component.emit('physics:added');\n    }\n  }\n\n  onRemoveCallback(component) {\n    const object = component.native;\n\n    if (object instanceof Vehicle) {\n      this.execute('removeVehicle', {id: object._physijs.id});\n      while (object.wheels.length) this.remove(object.wheels.pop());\n\n      this.remove(object.mesh);\n      this.vehicles[object._physijs.id] = null;\n    } else {\n      // Mesh.prototype.remove.call(this, object);\n\n      if (object._physijs) {\n        component.manager.remove('module:world');\n        this.objects[object._physijs.id] = null;\n        this.execute('removeObject', {id: object._physijs.id});\n      }\n    }\n  }\n\n  defer(func, args) {\n    return new Promise((resolve) => {\n      if (this.isLoaded) {\n        func(...args);\n        resolve();\n      } else this.loader.then(() => {\n        func(...args);\n        resolve();\n      });\n    });\n  }\n\n  manager(manager) {\n    manager.define('physics');\n    manager.set('physicsWorker', this.worker);\n  }\n\n  bridge = {\n    onAdd(component, self) {\n      if (component.use('physics')) return self.defer(self.onAddCallback.bind(self), [component]);\n      return;\n    },\n\n    onRemove(component, self) {\n      if (component.use('physics')) return self.defer(self.onRemoveCallback.bind(self), [component]);\n      return;\n    }\n  };\n\n  integrate(self) {\n    // ...\n\n    this.setFixedTimeStep = function(fixedTimeStep) {\n      if (fixedTimeStep) self.execute('setFixedTimeStep', fixedTimeStep);\n    }\n\n    this.setGravity = function(gravity) {\n      if (gravity) self.execute('setGravity', gravity);\n    }\n\n    this.addConstraint = self.addConstraint.bind(self);\n\n    this.simulate = function(timeStep, maxSubSteps) {\n      if (self._stats) self._stats.begin();\n\n      if (self.isSimulating) return false;\n      self.isSimulating = true;\n\n      for (const object_id in self.objects) {\n        if (!self.objects.hasOwnProperty(object_id)) continue;\n\n        const object = self.objects[object_id];\n        const component = object.component;\n        const data = component.use('physics').data;\n\n        if (object !== null && (component.__dirtyPosition || component.__dirtyRotation)) {\n          const update = {id: data.id};\n\n          if (component.__dirtyPosition) {\n            update.pos = {\n              x: object.position.x,\n              y: object.position.y,\n              z: object.position.z\n            };\n\n            if (data.isSoftbody) object.position.set(0, 0, 0);\n\n            component.__dirtyPosition = false;\n          }\n\n          if (component.__dirtyRotation) {\n            update.quat = {\n              x: object.quaternion.x,\n              y: object.quaternion.y,\n              z: object.quaternion.z,\n              w: object.quaternion.w\n            };\n\n            if (data.isSoftbody) object.rotation.set(0, 0, 0);\n\n            component.__dirtyRotation = false;\n          }\n\n          self.execute('updateTransform', update);\n        }\n      }\n\n      self.execute('simulate', {timeStep, maxSubSteps});\n\n      if (self._stats) self._stats.end();\n      return true;\n    }\n\n    // const simulateProcess = (t) => {\n    //   window.requestAnimationFrame(simulateProcess);\n\n    //   this.simulate(1/60, 1); // delta, 1\n    // }\n\n    // simulateProcess();\n\n    self.loader.then(() => {\n      self.simulateLoop = new Loop((clock) => {\n        this.simulate(clock.getDelta(), 1); // delta, 1\n      });\n\n      self.simulateLoop.start(this);\n\n      console.log(self.options.gravity);\n      this.setGravity(self.options.gravity);\n    });\n  }\n}\n","var TARGET = typeof Symbol === 'undefined' ? '__target' : Symbol(),\n    SCRIPT_TYPE = 'application/javascript',\n    BlobBuilder = window.BlobBuilder || window.WebKitBlobBuilder || window.MozBlobBuilder || window.MSBlobBuilder,\n    URL = window.URL || window.webkitURL,\n    Worker = window.Worker;\n\n/**\n * Returns a wrapper around Web Worker code that is constructible.\n *\n * @function shimWorker\n *\n * @param { String }    filename    The name of the file\n * @param { Function }  fn          Function wrapping the code of the worker\n */\nexport default function shimWorker (filename, fn) {\n    return function ShimWorker (forceFallback) {\n        var o = this;\n\n        if (!fn) {\n            return new Worker(filename);\n        }\n        else if (Worker && !forceFallback) {\n            // Convert the function's inner code to a string to construct the worker\n            var source = fn.toString().replace(/^function.+?{/, '').slice(0, -1),\n                objURL = createSourceObject(source);\n\n            this[TARGET] = new Worker(objURL);\n            URL.revokeObjectURL(objURL);\n            return this[TARGET];\n        }\n        else {\n            var selfShim = {\n                    postMessage: function(m) {\n                        if (o.onmessage) {\n                            setTimeout(function(){ o.onmessage({ data: m, target: selfShim }) });\n                        }\n                    }\n                };\n\n            fn.call(selfShim);\n            this.postMessage = function(m) {\n                setTimeout(function(){ selfShim.onmessage({ data: m, target: o }) });\n            };\n            this.isThisThread = true;\n        }\n    };\n};\n\n// Test Worker capabilities\nif (Worker) {\n    var testWorker,\n        objURL = createSourceObject('self.onmessage = function () {}'),\n        testArray = new Uint8Array(1);\n\n    try {\n        // No workers via blobs in Edge 12 and IE 11 and lower :(\n        if (/(?:Trident|Edge)\\/(?:[567]|12)/i.test(navigator.userAgent)) {\n            throw new Error('Not available');\n        }\n        testWorker = new Worker(objURL);\n\n        // Native browser on some Samsung devices throws for transferables, let's detect it\n        testWorker.postMessage(testArray, [testArray.buffer]);\n    }\n    catch (e) {\n        Worker = null;\n    }\n    finally {\n        URL.revokeObjectURL(objURL);\n        if (testWorker) {\n            testWorker.terminate();\n        }\n    }\n}\n\nfunction createSourceObject(str) {\n    try {\n        return URL.createObjectURL(new Blob([str], { type: SCRIPT_TYPE }));\n    }\n    catch (e) {\n        var blob = new BlobBuilder();\n        blob.append(str);\n        return URL.createObjectURL(blob.getBlob(type));\n    }\n}\n","import shimWorker from 'rollup-plugin-bundle-worker';\nexport default new shimWorker(\"../worker.js\", function (window, document) {\nvar self = this;\nfunction Events(target) {\n  var events = {},\n    empty = [];\n  target = target || this\n  /**\n   *  On: listen to events\n   */\n  target.on = function (type, func, ctx) {\n    (events[type] = events[type] || []).push([func, ctx])\n    return target\n  }\n  /**\n   *  Off: stop listening to event / specific callback\n   */\n  target.off = function (type, func) {\n    type || (events = {})\n    var list = events[type] || empty,\n      i = list.length = func ? list.length : 0;\n    while (i--) func == list[i][0] && list.splice(i, 1)\n    return target\n  }\n  /**\n   * Emit: send event, callbacks will be triggered\n   */\n  target.emit = function (type) {\n    var e = events[type] || empty,\n      list = e.length > 0 ? e.slice(0, e.length) : e,\n      i = 0,\n      j;\n    while (j = list[i++]) j[0].apply(j[1], empty.slice.call(arguments, 1))\n    return target\n  };\n};\n\nconst insideWorker = !self.document;\nif (!insideWorker) self = new Events();\n\nlet send = insideWorker ? (self.webkitPostMessage || self.postMessage) : function (data) {\n  self.emit('message', { data });\n};\n\nself.send = send;\n\nlet SUPPORT_TRANSFERABLE;\n\nif (insideWorker) {\n  const ab = new ArrayBuffer(1);\n\n  send(ab, [ab]);\n  SUPPORT_TRANSFERABLE = (ab.byteLength === 0);\n}\n\nconst MESSAGE_TYPES = {\n  WORLDREPORT: 0,\n  COLLISIONREPORT: 1,\n  VEHICLEREPORT: 2,\n  CONSTRAINTREPORT: 3,\n  SOFTREPORT: 4\n};\n\n// temp variables\nlet _object,\n  _vector,\n  _transform,\n  _transform_pos,\n  _softbody_enabled = false,\n  last_simulation_duration = 0,\n\n  _num_objects = 0,\n  _num_rigidbody_objects = 0,\n  _num_softbody_objects = 0,\n  _num_wheels = 0,\n  _num_constraints = 0,\n  _softbody_report_size = 0,\n\n  // world variables\n  fixedTimeStep, // used when calling stepSimulation\n  last_simulation_time,\n\n  world,\n  _vec3_1,\n  _vec3_2,\n  _vec3_3,\n  _quat;\n\n// private cache\nconst public_functions = {},\n  _objects = [],\n  _vehicles = [],\n  _constraints = [],\n  _objects_ammo = {},\n  _object_shapes = {},\n\n  // The following objects are to track objects that ammo.js doesn't clean\n  // up. All are cleaned up when they're corresponding body is destroyed.\n  // Unfortunately, it's very difficult to get at these objects from the\n  // body, so we have to track them ourselves.\n  _motion_states = {},\n  // Don't need to worry about it for cached shapes.\n  _noncached_shapes = {},\n  // A body with a compound shape always has a regular shape as well, so we\n  // have track them separately.\n  _compound_shapes = {};\n\n// object reporting\nlet REPORT_CHUNKSIZE, // report array is increased in increments of this chunk size\n  worldreport,\n  softreport,\n  collisionreport,\n  vehiclereport,\n  constraintreport;\n\nconst WORLDREPORT_ITEMSIZE = 14, // how many float values each reported item needs\n  COLLISIONREPORT_ITEMSIZE = 5, // one float for each object id, and a Vec3 contact normal\n  VEHICLEREPORT_ITEMSIZE = 9, // vehicle id, wheel index, 3 for position, 4 for rotation\n  CONSTRAINTREPORT_ITEMSIZE = 6; // constraint id, offset object, offset, applied impulse\n\nconst getShapeFromCache = (cache_key) => {\n  if (_object_shapes[cache_key] !== undefined)\n    return _object_shapes[cache_key];\n\n  return null;\n};\n\nconst setShapeCache = (cache_key, shape) => {\n  _object_shapes[cache_key] = shape;\n};\n\nconst createShape = (description) => {\n  let shape;\n\n  _transform.setIdentity();\n  switch (description.type) {\n  case 'compound':\n    {\n      shape = new Ammo.btCompoundShape();\n\n      break;\n    }\n  case 'plane':\n    {\n      const cache_key = `plane_${description.normal.x}_${description.normal.y}_${description.normal.z}`;\n\n      if ((shape = getShapeFromCache(cache_key)) === null) {\n        _vec3_1.setX(description.normal.x);\n        _vec3_1.setY(description.normal.y);\n        _vec3_1.setZ(description.normal.z);\n        shape = new Ammo.btStaticPlaneShape(_vec3_1, 0);\n        setShapeCache(cache_key, shape);\n      }\n\n      break;\n    }\n  case 'box':\n    {\n      const cache_key = `box_${description.width}_${description.height}_${description.depth}`;\n\n      if ((shape = getShapeFromCache(cache_key)) === null) {\n        _vec3_1.setX(description.width / 2);\n        _vec3_1.setY(description.height / 2);\n        _vec3_1.setZ(description.depth / 2);\n        shape = new Ammo.btBoxShape(_vec3_1);\n        setShapeCache(cache_key, shape);\n      }\n\n      break;\n    }\n  case 'sphere':\n    {\n      const cache_key = `sphere_${description.radius}`;\n\n      if ((shape = getShapeFromCache(cache_key)) === null) {\n        shape = new Ammo.btSphereShape(description.radius);\n        setShapeCache(cache_key, shape);\n      }\n\n      break;\n    }\n  case 'cylinder':\n    {\n      const cache_key = `cylinder_${description.width}_${description.height}_${description.depth}`;\n\n      if ((shape = getShapeFromCache(cache_key)) === null) {\n        _vec3_1.setX(description.width / 2);\n        _vec3_1.setY(description.height / 2);\n        _vec3_1.setZ(description.depth / 2);\n        shape = new Ammo.btCylinderShape(_vec3_1);\n        setShapeCache(cache_key, shape);\n      }\n\n      break;\n    }\n  case 'capsule':\n    {\n      const cache_key = `capsule_${description.radius}_${description.height}`;\n\n      if ((shape = getShapeFromCache(cache_key)) === null) {\n        // In Bullet, capsule height excludes the end spheres\n        shape = new Ammo.btCapsuleShape(description.radius, description.height - 2 * description.radius);\n        setShapeCache(cache_key, shape);\n      }\n\n      break;\n    }\n  case 'cone':\n    {\n      const cache_key = `cone_${description.radius}_${description.height}`;\n\n      if ((shape = getShapeFromCache(cache_key)) === null) {\n        shape = new Ammo.btConeShape(description.radius, description.height);\n        setShapeCache(cache_key, shape);\n      }\n\n      break;\n    }\n  case 'concave':\n    {\n      const triangle_mesh = new Ammo.btTriangleMesh();\n      if (!description.data.length) return false;\n      const data = description.data;\n\n      for (let i = 0; i < data.length / 9; i++) {\n        _vec3_1.setX(data[i * 9]);\n        _vec3_1.setY(data[i * 9 + 1]);\n        _vec3_1.setZ(data[i * 9 + 2]);\n\n        _vec3_2.setX(data[i * 9 + 3]);\n        _vec3_2.setY(data[i * 9 + 4]);\n        _vec3_2.setZ(data[i * 9 + 5]);\n\n        _vec3_3.setX(data[i * 9 + 6]);\n        _vec3_3.setY(data[i * 9 + 7]);\n        _vec3_3.setZ(data[i * 9 + 8]);\n\n        triangle_mesh.addTriangle(\n          _vec3_1,\n          _vec3_2,\n          _vec3_3,\n          false\n        );\n      }\n\n      shape = new Ammo.btBvhTriangleMeshShape(\n        triangle_mesh,\n        true,\n        true\n      );\n\n      _noncached_shapes[description.id] = shape;\n\n      break;\n    }\n  case 'convex':\n    {\n      shape = new Ammo.btConvexHullShape();\n      const data = description.data;\n\n      for (let i = 0; i < data.length / 3; i++) {\n        _vec3_1.setX(data[i * 3]);\n        _vec3_1.setY(data[i * 3 + 1]);\n        _vec3_1.setZ(data[i * 3 + 2]);\n\n        shape.addPoint(_vec3_1);\n      }\n\n      _noncached_shapes[description.id] = shape;\n\n      break;\n    }\n  case 'heightfield':\n    {\n      const xpts = description.xpts,\n        ypts = description.ypts,\n        points = description.points,\n        ptr = Ammo._malloc(4 * xpts * ypts);\n\n      for (let i = 0, p = 0, p2 = 0; i < xpts; i++) {\n        for (let j = 0; j < ypts; j++) {\n          Ammo.HEAPF32[ptr + p2 >> 2] = points[p];\n\n          p++;\n          p2 += 4;\n        }\n      }\n\n      shape = new Ammo.btHeightfieldTerrainShape(\n        description.xpts,\n        description.ypts,\n        ptr,\n        1, -description.absMaxHeight,\n        description.absMaxHeight,\n        1,\n        'PHY_FLOAT',\n        false\n      );\n\n      _noncached_shapes[description.id] = shape;\n      break;\n    }\n  default:\n    // Not recognized\n    return;\n  }\n\n  return shape;\n};\n\nconst createSoftBody = (description) => {\n  let body;\n\n  const softBodyHelpers = new Ammo.btSoftBodyHelpers();\n\n  switch (description.type) {\n  case 'softTrimesh':\n    {\n      if (!description.aVertices.length) return false;\n\n      body = softBodyHelpers.CreateFromTriMesh(\n        world.getWorldInfo(),\n        description.aVertices,\n        description.aIndices,\n        description.aIndices.length / 3,\n        false\n      );\n\n      break;\n    }\n  case 'softClothMesh':\n    {\n      const cr = description.corners;\n\n      body = softBodyHelpers.CreatePatch(\n        world.getWorldInfo(),\n        new Ammo.btVector3(cr[0], cr[1], cr[2]),\n        new Ammo.btVector3(cr[3], cr[4], cr[5]),\n        new Ammo.btVector3(cr[6], cr[7], cr[8]),\n        new Ammo.btVector3(cr[9], cr[10], cr[11]),\n        description.segments[0],\n        description.segments[1],\n        0,\n        true\n      );\n\n      break;\n    }\n  case 'softRopeMesh':\n    {\n      const data = description.data;\n\n      body = softBodyHelpers.CreateRope(\n        world.getWorldInfo(),\n        new Ammo.btVector3(data[0], data[1], data[2]),\n        new Ammo.btVector3(data[3], data[4], data[5]),\n        data[6] - 1,\n        0\n      );\n\n      break;\n    }\n  default:\n    // Not recognized\n    return;\n  }\n\n  return body;\n};\n\npublic_functions.init = (params = {}) => {\n  if (params.noWorker) {\n    window.Ammo = new params.ammo();\n    public_functions.makeWorld(params);\n    return;\n  }\n\n  if (params.wasmBuffer) {\n    importScripts(params.ammo);\n\n    self.Ammo = new loadAmmoFromBinary(params.wasmBuffer)();\n    send({ cmd: 'ammoLoaded' });\n    public_functions.makeWorld(params);\n  }\n  else {\n    importScripts(params.ammo);\n    send({ cmd: 'ammoLoaded' });\n\n    self.Ammo = new Ammo();\n    public_functions.makeWorld(params);\n  }\n}\n\npublic_functions.makeWorld = (params = {}) => {\n  _transform = new Ammo.btTransform();\n  _transform_pos = new Ammo.btTransform();\n  _vec3_1 = new Ammo.btVector3(0, 0, 0);\n  _vec3_2 = new Ammo.btVector3(0, 0, 0);\n  _vec3_3 = new Ammo.btVector3(0, 0, 0);\n  _quat = new Ammo.btQuaternion(0, 0, 0, 0);\n\n  REPORT_CHUNKSIZE = params.reportsize || 50;\n\n  if (SUPPORT_TRANSFERABLE) {\n    // Transferable messages are supported, take advantage of them with TypedArrays\n    worldreport = new Float32Array(2 + REPORT_CHUNKSIZE * WORLDREPORT_ITEMSIZE); // message id + # of objects to report + chunk size * # of values per object\n    collisionreport = new Float32Array(2 + REPORT_CHUNKSIZE * COLLISIONREPORT_ITEMSIZE); // message id + # of collisions to report + chunk size * # of values per object\n    vehiclereport = new Float32Array(2 + REPORT_CHUNKSIZE * VEHICLEREPORT_ITEMSIZE); // message id + # of vehicles to report + chunk size * # of values per object\n    constraintreport = new Float32Array(2 + REPORT_CHUNKSIZE * CONSTRAINTREPORT_ITEMSIZE); // message id + # of constraints to report + chunk size * # of values per object\n  }\n  else {\n    // Transferable messages are not supported, send data as normal arrays\n    worldreport = [];\n    collisionreport = [];\n    vehiclereport = [];\n    constraintreport = [];\n  }\n\n  worldreport[0] = MESSAGE_TYPES.WORLDREPORT;\n  collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;\n  vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;\n  constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;\n\n  const collisionConfiguration = params.softbody ?\n    new Ammo.btSoftBodyRigidBodyCollisionConfiguration() :\n    new Ammo.btDefaultCollisionConfiguration(),\n    dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration),\n    solver = new Ammo.btSequentialImpulseConstraintSolver();\n\n  let broadphase;\n\n  if (!params.broadphase) params.broadphase = { type: 'dynamic' };\n  // TODO!!!\n  /* if (params.broadphase.type === 'sweepprune') {\n    extend(params.broadphase, {\n      aabbmin: {\n        x: -50,\n        y: -50,\n        z: -50\n      },\n\n      aabbmax: {\n        x: 50,\n        y: 50,\n        z: 50\n      },\n    });\n  }*/\n\n  switch (params.broadphase.type) {\n  case 'sweepprune':\n    _vec3_1.setX(params.broadphase.aabbmin.x);\n    _vec3_1.setY(params.broadphase.aabbmin.y);\n    _vec3_1.setZ(params.broadphase.aabbmin.z);\n\n    _vec3_2.setX(params.broadphase.aabbmax.x);\n    _vec3_2.setY(params.broadphase.aabbmax.y);\n    _vec3_2.setZ(params.broadphase.aabbmax.z);\n\n    broadphase = new Ammo.btAxisSweep3(\n      _vec3_1,\n      _vec3_2\n    );\n\n    break;\n  case 'dynamic':\n  default:\n    broadphase = new Ammo.btDbvtBroadphase();\n    break;\n  }\n\n  world = params.softbody ?\n    new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration, new Ammo.btDefaultSoftBodySolver()) :\n    new Ammo.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);\n  fixedTimeStep = params.fixedTimeStep;\n\n  if (params.softbody) _softbody_enabled = true;\n\n  send({ cmd: 'worldReady' });\n};\n\npublic_functions.setFixedTimeStep = (description) => {\n  fixedTimeStep = description;\n};\n\npublic_functions.setGravity = (description) => {\n  _vec3_1.setX(description.x);\n  _vec3_1.setY(description.y);\n  _vec3_1.setZ(description.z);\n  world.setGravity(_vec3_1);\n};\n\npublic_functions.appendAnchor = (description) => {\n  _objects[description.obj]\n    .appendAnchor(\n      description.node,\n      _objects[description.obj2],\n      description.collisionBetweenLinkedBodies,\n      description.influence\n    );\n}\n\npublic_functions.linkNodes = (description) => {\n  var self_body = _objects[description.self];\n  var other_body = _objects[description.body];\n\n  var self_node = self_body.get_m_nodes().at(description.n1);\n  var other_node = other_body.get_m_nodes().at(description.n2);\n\n  var self_vec = self_node.get_m_x();\n  var other_vec = other_node.get_m_x();\n\n  var force_x = other_vec.x() - self_vec.x();\n  var force_y = other_vec.y() - self_vec.y();\n  var force_z = other_vec.z() - self_vec.z();\n\n\n  // var modifier = 30;\n\n  let cached_distance, linked = false;\n\n  const _loop = setInterval(() => {\n    force_x = other_vec.x() - self_vec.x();\n    force_y = other_vec.y() - self_vec.y();\n    force_z = other_vec.z() - self_vec.z();\n\n    let distance = Math.sqrt(force_x * force_x + force_y * force_y + force_z * force_z);\n\n    if (cached_distance && !linked && cached_distance < distance) { // cached_distance && !linked && cached_distance < distance\n\n      linked = true;\n\n      // let self_vel = self_node.get_m_v();\n      //\n      // _vec3_1.setX(-self_vel.x());\n      // _vec3_1.setY(-self_vel.y());\n      // _vec3_1.setZ(-self_vel.z());\n      //\n      // let other_vel = other_node.get_m_v();\n      //\n      // _vec3_2.setX(-other_vel.x());\n      // _vec3_2.setY(-other_vel.y());\n      // _vec3_2.setZ(-other_vel.z());\n\n      console.log('link!');\n\n      _vec3_1.setX(0);\n      _vec3_1.setY(0);\n      _vec3_1.setZ(0);\n\n      self_body.setVelocity(\n        _vec3_1\n      );\n\n      other_body.setVelocity(\n        _vec3_1\n      );\n\n\n\n      // self_body.addVelocity(_vec3_1);\n      // other_body.addVelocity(_vec3_2);\n\n      // self_relative_x = self_node.x();\n      // self_relative_y = self_node.y();\n      // self_relative_z = self_node.z();\n      //\n      // other_relative_x = other_node.x();\n      // other_relative_y = other_node.y();\n      // other_relative_z = other_node.z();\n\n      // self_relative = new Ammo.btVector3();\n      // self_relative.setX();\n\n      // console.log('link!');\n      // self_body.appendAnchor(description.n1, connector, true, 0.5);\n      // other_body.appendAnchor(description.n2, connector, true, 0.5);\n      // clearInterval(_loop);\n\n      // _vec3_1.setX(0);\n      // _vec3_1.setY(0);\n      // _vec3_1.setZ(0);\n\n      // self_body.setVelocity(_vec3_1);\n      // other_body.setVelocity(_vec3_1);\n\n      // other_body.addForce(\n      //   _vec3_2,\n      //   description.n2\n      // );\n\n      // description.modifier *= 1.6;\n    }\n\n    const modifer2 = linked ? 40 : 1;\n\n    force_x *= Math.max(distance, 1) * description.modifier * modifer2;\n    force_y *= Math.max(distance, 1) * description.modifier * modifer2;\n    force_z *= Math.max(distance, 1) * description.modifier * modifer2;\n\n    _vec3_1.setX(force_x);\n    _vec3_1.setY(force_y);\n    _vec3_1.setZ(force_z);\n\n    _vec3_2.setX(-force_x);\n    _vec3_2.setY(-force_y);\n    _vec3_2.setZ(-force_z);\n\n    self_body.addVelocity(\n      _vec3_1,\n      description.n1\n    );\n\n    other_body.addVelocity(\n      _vec3_2,\n      description.n2\n    );\n\n    // } else {\n    //   // self_relative_x = null;\n    // }\n\n\n\n    // if (self_relative_x) {\n    //   _vec3_1.setX(self_relative_x - self_node.x());\n    //   _vec3_1.setY(self_relative_y - self_node.y());\n    //   _vec3_1.setZ(self_relative_z - self_node.z());\n    //\n    //   _vec3_2.setX(other_relative_x - other_node.x());\n    //   _vec3_2.setY(other_relative_y - other_node.y());\n    //   _vec3_2.setZ(other_relative_z - other_node.z());\n    // } else {\n\n    // }\n\n\n\n\n    cached_distance = distance;\n  }, 10);\n}\n\npublic_functions.appendLink = (description) => {\n  // console.log(Ammo);\n  // console.log(new Ammo.Material());\n\n  // var _mat = new Ammo.Material();\n  //\n  // _mat.set_m_kAST(0);\n  // _mat.set_m_kLST(0);\n  // _mat.set_m_kVST(0);\n  //\n  // _objects[description.self].appendLink(\n  //   description.n1,\n  //   description.n2,\n  //   _mat,\n  //   false\n  // );\n\n  _vec3_1.setX(1000);\n  _vec3_1.setY(0);\n  _vec3_1.setZ(0);\n\n  _objects[description.self].addForce(\n    _vec3_1,\n    description.n1\n  );\n}\n\npublic_functions.appendLinearJoint = (description) => {\n  // console.log('Ammo', Ammo);\n  var specs = new Ammo.Specs();\n  var _pos = description.specs.position;\n\n  specs.set_position(new Ammo.btVector3(_pos[0], _pos[1], _pos[2]));\n  if (description.specs.erp) specs.set_erp(description.specs.erp);\n  if (description.specs.cfm) specs.set_cfm(description.specs.cfm);\n  if (description.specs.split) specs.set_split(description.specs.split);\n\n  // console.log(specs);\n  //\n  // // ljoint.set_m_rpos(\n  // //   new Ammo.btVector3(_pos1[0], _pos1[1], _pos1[2]),\n  // //   new Ammo.btVector3(_pos2[0], _pos2[1], _pos2[2])\n  // // );\n  //\n  // // console.log('ljoint', ljoint);\n  //\n\n  // console.log('body', _objects[description.body]);\n  _objects[description.self]\n    .appendLinearJoint(\n      specs,\n      _objects[description.body]\n    );\n}\n\npublic_functions.addObject = (description) => {\n  let body, motionState;\n\n  if (description.type.indexOf('soft') !== -1) {\n    body = createSoftBody(description);\n\n    const sbConfig = body.get_m_cfg();\n\n    if (description.viterations) sbConfig.set_viterations(description.viterations);\n    if (description.piterations) sbConfig.set_piterations(description.piterations);\n    if (description.diterations) sbConfig.set_diterations(description.diterations);\n    if (description.citerations) sbConfig.set_citerations(description.citerations);\n    sbConfig.set_collisions(0x11);\n    sbConfig.set_kDF(description.friction);\n    sbConfig.set_kDP(description.damping);\n    if (description.pressure) sbConfig.set_kPR(description.pressure);\n    if (description.drag) sbConfig.set_kDG(description.drag);\n    if (description.lift) sbConfig.set_kLF(description.lift);\n    if (description.anchorHardness) sbConfig.set_kAHR(description.anchorHardness);\n    if (description.rigidHardness) sbConfig.set_kCHR(description.rigidHardness);\n\n    if (description.klst) body.get_m_materials().at(0).set_m_kLST(description.klst);\n    if (description.kast) body.get_m_materials().at(0).set_m_kAST(description.kast);\n    if (description.kvst) body.get_m_materials().at(0).set_m_kVST(description.kvst);\n\n    Ammo.castObject(body, Ammo.btCollisionObject).getCollisionShape().setMargin(\n      typeof description.margin !== 'undefined' ? description.margin : 0.1\n    );\n\n    // Ammo.castObject(body, Ammo.btCollisionObject).getCollisionShape().setMargin(0);\n\n    // Ammo.castObject(body, Ammo.btCollisionObject).getCollisionShape().setLocalScaling(_vec3_1);\n    body.setActivationState(description.state || 4);\n    body.type = 0; // SoftBody.\n    if (description.type === 'softRopeMesh') body.rope = true;\n    if (description.type === 'softClothMesh') body.cloth = true;\n\n    _transform.setIdentity();\n\n    // @test\n    _quat.setX(description.rotation.x);\n    _quat.setY(description.rotation.y);\n    _quat.setZ(description.rotation.z);\n    _quat.setW(description.rotation.w);\n    body.rotate(_quat);\n\n    _vec3_1.setX(description.position.x);\n    _vec3_1.setY(description.position.y);\n    _vec3_1.setZ(description.position.z);\n    body.translate(_vec3_1);\n\n    _vec3_1.setX(description.scale.x);\n    _vec3_1.setY(description.scale.y);\n    _vec3_1.setZ(description.scale.z);\n    body.scale(_vec3_1);\n\n    body.setTotalMass(description.mass, false);\n    world.addSoftBody(body, 1, -1);\n    if (description.type === 'softTrimesh') _softbody_report_size += body.get_m_faces().size() * 3;\n    else if (description.type === 'softRopeMesh') _softbody_report_size += body.get_m_nodes().size();\n    else _softbody_report_size += body.get_m_nodes().size() * 3;\n\n    _num_softbody_objects++;\n  }\n  else {\n    let shape = createShape(description);\n\n    if (!shape) return;\n\n    // If there are children then this is a compound shape\n    if (description.children) {\n      const compound_shape = new Ammo.btCompoundShape();\n      compound_shape.addChildShape(_transform, shape);\n\n      for (let i = 0; i < description.children.length; i++) {\n        const _child = description.children[i];\n\n        const trans = new Ammo.btTransform();\n        trans.setIdentity();\n\n        _vec3_1.setX(_child.position_offset.x);\n        _vec3_1.setY(_child.position_offset.y);\n        _vec3_1.setZ(_child.position_offset.z);\n        trans.setOrigin(_vec3_1);\n\n        _quat.setX(_child.rotation.x);\n        _quat.setY(_child.rotation.y);\n        _quat.setZ(_child.rotation.z);\n        _quat.setW(_child.rotation.w);\n        trans.setRotation(_quat);\n\n        shape = createShape(description.children[i]);\n        compound_shape.addChildShape(trans, shape);\n        Ammo.destroy(trans);\n      }\n\n      shape = compound_shape;\n      _compound_shapes[description.id] = shape;\n    }\n\n    _vec3_1.setX(description.scale.x);\n    _vec3_1.setY(description.scale.y);\n    _vec3_1.setZ(description.scale.z);\n\n    shape.setLocalScaling(_vec3_1);\n    shape.setMargin(\n      typeof description.margin !== 'undefined' ? description.margin : 0\n    );\n\n    _vec3_1.setX(0);\n    _vec3_1.setY(0);\n    _vec3_1.setZ(0);\n    shape.calculateLocalInertia(description.mass, _vec3_1);\n\n    _transform.setIdentity();\n\n    _vec3_2.setX(description.position.x);\n    _vec3_2.setY(description.position.y);\n    _vec3_2.setZ(description.position.z);\n    _transform.setOrigin(_vec3_2);\n\n    _quat.setX(description.rotation.x);\n    _quat.setY(description.rotation.y);\n    _quat.setZ(description.rotation.z);\n    _quat.setW(description.rotation.w);\n    _transform.setRotation(_quat);\n\n    motionState = new Ammo.btDefaultMotionState(_transform); // #TODO: btDefaultMotionState supports center of mass offset as second argument - implement\n    const rbInfo = new Ammo.btRigidBodyConstructionInfo(description.mass, motionState, shape, _vec3_1);\n\n    rbInfo.set_m_friction(description.friction);\n    rbInfo.set_m_restitution(description.restitution);\n    rbInfo.set_m_linearDamping(description.damping);\n    rbInfo.set_m_angularDamping(description.damping);\n\n    body = new Ammo.btRigidBody(rbInfo);\n    body.setActivationState(description.state || 4);\n    Ammo.destroy(rbInfo);\n\n    if (typeof description.collision_flags !== 'undefined') body.setCollisionFlags(description.collision_flags);\n\n    if (description.group && description.mask) world.addRigidBody(body, description.group, description.mask);\n    else world.addRigidBody(body);\n    body.type = 1; // RigidBody.\n    _num_rigidbody_objects++;\n  }\n\n  body.activate();\n\n  body.id = description.id;\n  _objects[body.id] = body;\n  _motion_states[body.id] = motionState;\n\n  _objects_ammo[body.a === undefined ? body.ptr : body.a] = body.id;\n  _num_objects++;\n\n  send({ cmd: 'objectReady', params: body.id });\n};\n\npublic_functions.addVehicle = (description) => {\n  const vehicle_tuning = new Ammo.btVehicleTuning();\n\n  vehicle_tuning.set_m_suspensionStiffness(description.suspension_stiffness);\n  vehicle_tuning.set_m_suspensionCompression(description.suspension_compression);\n  vehicle_tuning.set_m_suspensionDamping(description.suspension_damping);\n  vehicle_tuning.set_m_maxSuspensionTravelCm(description.max_suspension_travel);\n  vehicle_tuning.set_m_maxSuspensionForce(description.max_suspension_force);\n\n  const vehicle = new Ammo.btRaycastVehicle(\n    vehicle_tuning,\n    _objects[description.rigidBody],\n    new Ammo.btDefaultVehicleRaycaster(world)\n  );\n\n  vehicle.tuning = vehicle_tuning;\n  _objects[description.rigidBody].setActivationState(4);\n  vehicle.setCoordinateSystem(0, 1, 2);\n\n  world.addVehicle(vehicle);\n  _vehicles[description.id] = vehicle;\n};\npublic_functions.removeVehicle = (description) => {\n  _vehicles[description.id] = null;\n};\n\npublic_functions.addWheel = (description) => {\n  if (_vehicles[description.id] !== undefined) {\n    let tuning = _vehicles[description.id].tuning;\n    if (description.tuning !== undefined) {\n      tuning = new Ammo.btVehicleTuning();\n      tuning.set_m_suspensionStiffness(description.tuning.suspension_stiffness);\n      tuning.set_m_suspensionCompression(description.tuning.suspension_compression);\n      tuning.set_m_suspensionDamping(description.tuning.suspension_damping);\n      tuning.set_m_maxSuspensionTravelCm(description.tuning.max_suspension_travel);\n      tuning.set_m_maxSuspensionForce(description.tuning.max_suspension_force);\n    }\n\n    _vec3_1.setX(description.connection_point.x);\n    _vec3_1.setY(description.connection_point.y);\n    _vec3_1.setZ(description.connection_point.z);\n\n    _vec3_2.setX(description.wheel_direction.x);\n    _vec3_2.setY(description.wheel_direction.y);\n    _vec3_2.setZ(description.wheel_direction.z);\n\n    _vec3_3.setX(description.wheel_axle.x);\n    _vec3_3.setY(description.wheel_axle.y);\n    _vec3_3.setZ(description.wheel_axle.z);\n\n    _vehicles[description.id].addWheel(\n      _vec3_1,\n      _vec3_2,\n      _vec3_3,\n      description.suspension_rest_length,\n      description.wheel_radius,\n      tuning,\n      description.is_front_wheel\n    );\n  }\n\n  _num_wheels++;\n\n  if (SUPPORT_TRANSFERABLE) {\n    vehiclereport = new Float32Array(1 + _num_wheels * VEHICLEREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )\n    vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;\n  }\n  else vehiclereport = [MESSAGE_TYPES.VEHICLEREPORT];\n};\n\npublic_functions.setSteering = (details) => {\n  if (_vehicles[details.id] !== undefined) _vehicles[details.id].setSteeringValue(details.steering, details.wheel);\n};\n\npublic_functions.setBrake = (details) => {\n  if (_vehicles[details.id] !== undefined) _vehicles[details.id].setBrake(details.brake, details.wheel);\n};\n\npublic_functions.applyEngineForce = (details) => {\n  if (_vehicles[details.id] !== undefined) _vehicles[details.id].applyEngineForce(details.force, details.wheel);\n};\n\npublic_functions.removeObject = (details) => {\n  if (_objects[details.id].type === 0) {\n    _num_softbody_objects--;\n    _softbody_report_size -= _objects[details.id].get_m_nodes().size();\n    world.removeSoftBody(_objects[details.id]);\n  }\n  else if (_objects[details.id].type === 1) {\n    _num_rigidbody_objects--;\n    world.removeRigidBody(_objects[details.id]);\n    Ammo.destroy(_motion_states[details.id]);\n  }\n\n  Ammo.destroy(_objects[details.id]);\n  if (_compound_shapes[details.id]) Ammo.destroy(_compound_shapes[details.id]);\n  if (_noncached_shapes[details.id]) Ammo.destroy(_noncached_shapes[details.id]);\n\n  _objects_ammo[_objects[details.id].a === undefined ? _objects[details.id].a : _objects[details.id].ptr] = null;\n  _objects[details.id] = null;\n  _motion_states[details.id] = null;\n\n  if (_compound_shapes[details.id]) _compound_shapes[details.id] = null;\n  if (_noncached_shapes[details.id]) _noncached_shapes[details.id] = null;\n  _num_objects--;\n};\n\npublic_functions.updateTransform = (details) => {\n  _object = _objects[details.id];\n\n  if (_object.type === 1) {\n    _object.getMotionState().getWorldTransform(_transform);\n\n    if (details.pos) {\n      _vec3_1.setX(details.pos.x);\n      _vec3_1.setY(details.pos.y);\n      _vec3_1.setZ(details.pos.z);\n      _transform.setOrigin(_vec3_1);\n    }\n\n    if (details.quat) {\n      _quat.setX(details.quat.x);\n      _quat.setY(details.quat.y);\n      _quat.setZ(details.quat.z);\n      _quat.setW(details.quat.w);\n      _transform.setRotation(_quat);\n    }\n\n    _object.setWorldTransform(_transform);\n    _object.activate();\n  }\n  else if (_object.type === 0) {\n    // _object.getWorldTransform(_transform);\n\n    if (details.pos) {\n      _vec3_1.setX(details.pos.x);\n      _vec3_1.setY(details.pos.y);\n      _vec3_1.setZ(details.pos.z);\n      _transform.setOrigin(_vec3_1);\n    }\n\n    if (details.quat) {\n      _quat.setX(details.quat.x);\n      _quat.setY(details.quat.y);\n      _quat.setZ(details.quat.z);\n      _quat.setW(details.quat.w);\n      _transform.setRotation(_quat);\n    }\n\n    _object.transform(_transform);\n  }\n};\n\npublic_functions.updateMass = (details) => {\n  // #TODO: changing a static object into dynamic is buggy\n  _object = _objects[details.id];\n\n  // Per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=3663#p13816\n  world.removeRigidBody(_object);\n\n  _vec3_1.setX(0);\n  _vec3_1.setY(0);\n  _vec3_1.setZ(0);\n\n  _object.setMassProps(details.mass, _vec3_1);\n  world.addRigidBody(_object);\n  _object.activate();\n};\n\npublic_functions.applyCentralImpulse = (details) => {\n  _vec3_1.setX(details.x);\n  _vec3_1.setY(details.y);\n  _vec3_1.setZ(details.z);\n\n  _objects[details.id].applyCentralImpulse(_vec3_1);\n  _objects[details.id].activate();\n};\n\npublic_functions.applyImpulse = (details) => {\n  _vec3_1.setX(details.impulse_x);\n  _vec3_1.setY(details.impulse_y);\n  _vec3_1.setZ(details.impulse_z);\n\n  _vec3_2.setX(details.x);\n  _vec3_2.setY(details.y);\n  _vec3_2.setZ(details.z);\n\n  _objects[details.id].applyImpulse(\n    _vec3_1,\n    _vec3_2\n  );\n  _objects[details.id].activate();\n};\n\npublic_functions.applyTorque = (details) => {\n  _vec3_1.setX(details.torque_x);\n  _vec3_1.setY(details.torque_y);\n  _vec3_1.setZ(details.torque_z);\n\n  _objects[details.id].applyTorque(\n    _vec3_1\n  );\n  _objects[details.id].activate();\n};\n\npublic_functions.applyCentralForce = (details) => {\n  _vec3_1.setX(details.x);\n  _vec3_1.setY(details.y);\n  _vec3_1.setZ(details.z);\n\n  _objects[details.id].applyCentralForce(_vec3_1);\n  _objects[details.id].activate();\n};\n\npublic_functions.applyForce = (details) => {\n  _vec3_1.setX(details.force_x);\n  _vec3_1.setY(details.force_y);\n  _vec3_1.setZ(details.force_z);\n\n  _vec3_2.setX(details.x);\n  _vec3_2.setY(details.y);\n  _vec3_2.setZ(details.z);\n\n  _objects[details.id].applyForce(\n    _vec3_1,\n    _vec3_2\n  );\n  _objects[details.id].activate();\n};\n\npublic_functions.onSimulationResume = () => {\n  last_simulation_time = Date.now();\n};\n\npublic_functions.setAngularVelocity = (details) => {\n  _vec3_1.setX(details.x);\n  _vec3_1.setY(details.y);\n  _vec3_1.setZ(details.z);\n\n  _objects[details.id].setAngularVelocity(\n    _vec3_1\n  );\n  _objects[details.id].activate();\n};\n\npublic_functions.setLinearVelocity = (details) => {\n  _vec3_1.setX(details.x);\n  _vec3_1.setY(details.y);\n  _vec3_1.setZ(details.z);\n\n  _objects[details.id].setLinearVelocity(\n    _vec3_1\n  );\n  _objects[details.id].activate();\n};\n\npublic_functions.setAngularFactor = (details) => {\n  _vec3_1.setX(details.x);\n  _vec3_1.setY(details.y);\n  _vec3_1.setZ(details.z);\n\n  _objects[details.id].setAngularFactor(\n    _vec3_1\n  );\n};\n\npublic_functions.setLinearFactor = (details) => {\n  _vec3_1.setX(details.x);\n  _vec3_1.setY(details.y);\n  _vec3_1.setZ(details.z);\n\n  _objects[details.id].setLinearFactor(\n    _vec3_1\n  );\n};\n\npublic_functions.setDamping = (details) => {\n  _objects[details.id].setDamping(details.linear, details.angular);\n};\n\npublic_functions.setCcdMotionThreshold = (details) => {\n  _objects[details.id].setCcdMotionThreshold(details.threshold);\n};\n\npublic_functions.setCcdSweptSphereRadius = (details) => {\n  _objects[details.id].setCcdSweptSphereRadius(details.radius);\n};\n\npublic_functions.addConstraint = (details) => {\n  let constraint;\n\n  switch (details.type) {\n\n  case 'point':\n    {\n      if (details.objectb === undefined) {\n        _vec3_1.setX(details.positiona.x);\n        _vec3_1.setY(details.positiona.y);\n        _vec3_1.setZ(details.positiona.z);\n\n        constraint = new Ammo.btPoint2PointConstraint(\n          _objects[details.objecta],\n          _vec3_1\n        );\n      }\n      else {\n        _vec3_1.setX(details.positiona.x);\n        _vec3_1.setY(details.positiona.y);\n        _vec3_1.setZ(details.positiona.z);\n\n        _vec3_2.setX(details.positionb.x);\n        _vec3_2.setY(details.positionb.y);\n        _vec3_2.setZ(details.positionb.z);\n\n        constraint = new Ammo.btPoint2PointConstraint(\n          _objects[details.objecta],\n          _objects[details.objectb],\n          _vec3_1,\n          _vec3_2\n        );\n      }\n      break;\n    }\n  case 'hinge':\n    {\n      if (details.objectb === undefined) {\n        _vec3_1.setX(details.positiona.x);\n        _vec3_1.setY(details.positiona.y);\n        _vec3_1.setZ(details.positiona.z);\n\n        _vec3_2.setX(details.axis.x);\n        _vec3_2.setY(details.axis.y);\n        _vec3_2.setZ(details.axis.z);\n\n        constraint = new Ammo.btHingeConstraint(\n          _objects[details.objecta],\n          _vec3_1,\n          _vec3_2\n        );\n\n      }\n      else {\n        _vec3_1.setX(details.positiona.x);\n        _vec3_1.setY(details.positiona.y);\n        _vec3_1.setZ(details.positiona.z);\n\n        _vec3_2.setX(details.positionb.x);\n        _vec3_2.setY(details.positionb.y);\n        _vec3_2.setZ(details.positionb.z);\n\n        _vec3_3.setX(details.axis.x);\n        _vec3_3.setY(details.axis.y);\n        _vec3_3.setZ(details.axis.z);\n\n        constraint = new Ammo.btHingeConstraint(\n          _objects[details.objecta],\n          _objects[details.objectb],\n          _vec3_1,\n          _vec3_2,\n          _vec3_3,\n          _vec3_3\n        );\n      }\n      break;\n    }\n  case 'slider':\n    {\n      let transformb;\n      const transforma = new Ammo.btTransform();\n\n      _vec3_1.setX(details.positiona.x);\n      _vec3_1.setY(details.positiona.y);\n      _vec3_1.setZ(details.positiona.z);\n\n      transforma.setOrigin(_vec3_1);\n\n      let rotation = transforma.getRotation();\n      rotation.setEuler(details.axis.x, details.axis.y, details.axis.z);\n      transforma.setRotation(rotation);\n\n      if (details.objectb) {\n        transformb = new Ammo.btTransform();\n\n        _vec3_2.setX(details.positionb.x);\n        _vec3_2.setY(details.positionb.y);\n        _vec3_2.setZ(details.positionb.z);\n\n        transformb.setOrigin(_vec3_2);\n\n        rotation = transformb.getRotation();\n        rotation.setEuler(details.axis.x, details.axis.y, details.axis.z);\n        transformb.setRotation(rotation);\n\n        constraint = new Ammo.btSliderConstraint(\n          _objects[details.objecta],\n          _objects[details.objectb],\n          transforma,\n          transformb,\n          true\n        );\n      }\n      else {\n        constraint = new Ammo.btSliderConstraint(\n          _objects[details.objecta],\n          transforma,\n          true\n        );\n      }\n\n      constraint.ta = transforma;\n      constraint.tb = transformb;\n\n      Ammo.destroy(transforma);\n      if (transformb !== undefined) Ammo.destroy(transformb);\n\n      break;\n    }\n  case 'conetwist':\n    {\n      const transforma = new Ammo.btTransform();\n      transforma.setIdentity();\n\n      const transformb = new Ammo.btTransform();\n      transformb.setIdentity();\n\n      _vec3_1.setX(details.positiona.x);\n      _vec3_1.setY(details.positiona.y);\n      _vec3_1.setZ(details.positiona.z);\n\n      _vec3_2.setX(details.positionb.x);\n      _vec3_2.setY(details.positionb.y);\n      _vec3_2.setZ(details.positionb.z);\n\n      transforma.setOrigin(_vec3_1);\n      transformb.setOrigin(_vec3_2);\n\n      let rotation = transforma.getRotation();\n      rotation.setEulerZYX(-details.axisa.z, -details.axisa.y, -details.axisa.x);\n      transforma.setRotation(rotation);\n\n      rotation = transformb.getRotation();\n      rotation.setEulerZYX(-details.axisb.z, -details.axisb.y, -details.axisb.x);\n      transformb.setRotation(rotation);\n\n      constraint = new Ammo.btConeTwistConstraint(\n        _objects[details.objecta],\n        _objects[details.objectb],\n        transforma,\n        transformb\n      );\n\n      constraint.setLimit(Math.PI, 0, Math.PI);\n\n      constraint.ta = transforma;\n      constraint.tb = transformb;\n\n      Ammo.destroy(transforma);\n      Ammo.destroy(transformb);\n\n      break;\n    }\n  case 'dof':\n    {\n      let transformb;\n\n      const transforma = new Ammo.btTransform();\n      transforma.setIdentity();\n\n      _vec3_1.setX(details.positiona.x);\n      _vec3_1.setY(details.positiona.y);\n      _vec3_1.setZ(details.positiona.z);\n\n      transforma.setOrigin(_vec3_1);\n\n      let rotation = transforma.getRotation();\n      rotation.setEulerZYX(-details.axisa.z, -details.axisa.y, -details.axisa.x);\n      transforma.setRotation(rotation);\n\n      if (details.objectb) {\n        transformb = new Ammo.btTransform();\n        transformb.setIdentity();\n\n        _vec3_2.setX(details.positionb.x);\n        _vec3_2.setY(details.positionb.y);\n        _vec3_2.setZ(details.positionb.z);\n\n        transformb.setOrigin(_vec3_2);\n\n        rotation = transformb.getRotation();\n        rotation.setEulerZYX(-details.axisb.z, -details.axisb.y, -details.axisb.x);\n        transformb.setRotation(rotation);\n\n        constraint = new Ammo.btGeneric6DofConstraint(\n          _objects[details.objecta],\n          _objects[details.objectb],\n          transforma,\n          transformb,\n          true\n        );\n      }\n      else {\n        constraint = new Ammo.btGeneric6DofConstraint(\n          _objects[details.objecta],\n          transforma,\n          true\n        );\n      }\n\n      constraint.ta = transforma;\n      constraint.tb = transformb;\n\n      Ammo.destroy(transforma);\n      if (transformb !== undefined) Ammo.destroy(transformb);\n\n      break;\n    }\n  default:\n    return;\n  }\n\n  world.addConstraint(constraint);\n\n  constraint.a = _objects[details.objecta];\n  constraint.b = _objects[details.objectb];\n\n  constraint.enableFeedback();\n  _constraints[details.id] = constraint;\n  _num_constraints++;\n\n  if (SUPPORT_TRANSFERABLE) {\n    constraintreport = new Float32Array(1 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )\n    constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;\n  }\n  else constraintreport = [MESSAGE_TYPES.CONSTRAINTREPORT];\n};\n\npublic_functions.removeConstraint = (details) => {\n  const constraint = _constraints[details.id];\n\n  if (constraint !== undefined) {\n    world.removeConstraint(constraint);\n    _constraints[details.id] = null;\n    _num_constraints--;\n  }\n};\n\npublic_functions.constraint_setBreakingImpulseThreshold = (details) => {\n  const constraint = _constraints[details.id];\n  if (constraint !== undefined) constraint.setBreakingImpulseThreshold(details.threshold);\n};\n\npublic_functions.simulate = (params = {}) => {\n  if (world) {\n    if (params.timeStep && params.timeStep < fixedTimeStep)\n      params.timeStep = fixedTimeStep;\n\n    params.maxSubSteps = params.maxSubSteps || Math.ceil(params.timeStep / fixedTimeStep); // If maxSubSteps is not defined, keep the simulation fully up to date\n\n    world.stepSimulation(params.timeStep, params.maxSubSteps, fixedTimeStep);\n\n    if (_vehicles.length > 0) reportVehicles();\n    reportCollisions();\n    if (_constraints.length > 0) reportConstraints();\n    reportWorld();\n    if (_softbody_enabled) reportWorld_softbodies();\n  }\n};\n\n// Constraint functions\npublic_functions.hinge_setLimits = (params) => {\n  _constraints[params.constraint].setLimit(params.low, params.high, 0, params.bias_factor, params.relaxation_factor);\n};\n\npublic_functions.hinge_enableAngularMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.enableAngularMotor(true, params.velocity, params.acceleration);\n  constraint.a.activate();\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.hinge_disableMotor = (params) => {\n  _constraints[params.constraint].enableMotor(false);\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.slider_setLimits = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setLowerLinLimit(params.lin_lower || 0);\n  constraint.setUpperLinLimit(params.lin_upper || 0);\n\n  constraint.setLowerAngLimit(params.ang_lower || 0);\n  constraint.setUpperAngLimit(params.ang_upper || 0);\n};\n\npublic_functions.slider_setRestitution = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setSoftnessLimLin(params.linear || 0);\n  constraint.setSoftnessLimAng(params.angular || 0);\n};\n\npublic_functions.slider_enableLinearMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setTargetLinMotorVelocity(params.velocity);\n  constraint.setMaxLinMotorForce(params.acceleration);\n  constraint.setPoweredLinMotor(true);\n  constraint.a.activate();\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.slider_disableLinearMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setPoweredLinMotor(false);\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.slider_enableAngularMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setTargetAngMotorVelocity(params.velocity);\n  constraint.setMaxAngMotorForce(params.acceleration);\n  constraint.setPoweredAngMotor(true);\n  constraint.a.activate();\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.slider_disableAngularMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setPoweredAngMotor(false);\n  constraint.a.activate();\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.conetwist_setLimit = (params) => {\n  _constraints[params.constraint].setLimit(params.z, params.y, params.x); // ZYX order\n};\n\npublic_functions.conetwist_enableMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.enableMotor(true);\n  constraint.a.activate();\n  constraint.b.activate();\n};\n\npublic_functions.conetwist_setMaxMotorImpulse = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.setMaxMotorImpulse(params.max_impulse);\n  constraint.a.activate();\n  constraint.b.activate();\n};\n\npublic_functions.conetwist_setMotorTarget = (params) => {\n  const constraint = _constraints[params.constraint];\n\n  _quat.setX(params.x);\n  _quat.setY(params.y);\n  _quat.setZ(params.z);\n  _quat.setW(params.w);\n\n  constraint.setMotorTarget(_quat);\n\n  constraint.a.activate();\n  constraint.b.activate();\n};\n\npublic_functions.conetwist_disableMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n  constraint.enableMotor(false);\n  constraint.a.activate();\n  constraint.b.activate();\n};\n\npublic_functions.dof_setLinearLowerLimit = (params) => {\n  const constraint = _constraints[params.constraint];\n\n  _vec3_1.setX(params.x);\n  _vec3_1.setY(params.y);\n  _vec3_1.setZ(params.z);\n\n  constraint.setLinearLowerLimit(_vec3_1);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.dof_setLinearUpperLimit = (params) => {\n  const constraint = _constraints[params.constraint];\n\n  _vec3_1.setX(params.x);\n  _vec3_1.setY(params.y);\n  _vec3_1.setZ(params.z);\n\n  constraint.setLinearUpperLimit(_vec3_1);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.dof_setAngularLowerLimit = (params) => {\n  const constraint = _constraints[params.constraint];\n\n  _vec3_1.setX(params.x);\n  _vec3_1.setY(params.y);\n  _vec3_1.setZ(params.z);\n\n  constraint.setAngularLowerLimit(_vec3_1);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.dof_setAngularUpperLimit = (params) => {\n  const constraint = _constraints[params.constraint];\n\n  _vec3_1.setX(params.x);\n  _vec3_1.setY(params.y);\n  _vec3_1.setZ(params.z);\n\n  constraint.setAngularUpperLimit(_vec3_1);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.dof_enableAngularMotor = (params) => {\n  const constraint = _constraints[params.constraint];\n\n  const motor = constraint.getRotationalLimitMotor(params.which);\n  motor.set_m_enableMotor(true);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.dof_configureAngularMotor = (params) => {\n  const constraint = _constraints[params.constraint],\n    motor = constraint.getRotationalLimitMotor(params.which);\n\n  motor.set_m_loLimit(params.low_angle);\n  motor.set_m_hiLimit(params.high_angle);\n  motor.set_m_targetVelocity(params.velocity);\n  motor.set_m_maxMotorForce(params.max_force);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\npublic_functions.dof_disableAngularMotor = (params) => {\n  const constraint = _constraints[params.constraint],\n    motor = constraint.getRotationalLimitMotor(params.which);\n\n  motor.set_m_enableMotor(false);\n  constraint.a.activate();\n\n  if (constraint.b) constraint.b.activate();\n};\n\nconst reportWorld = () => {\n  if (SUPPORT_TRANSFERABLE && worldreport.length < 2 + _num_rigidbody_objects * WORLDREPORT_ITEMSIZE) {\n    worldreport = new Float32Array(\n      2 // message id & # objects in report\n      +\n      (Math.ceil(_num_rigidbody_objects / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE) * WORLDREPORT_ITEMSIZE // # of values needed * item size\n    );\n\n    worldreport[0] = MESSAGE_TYPES.WORLDREPORT;\n  }\n\n  worldreport[1] = _num_rigidbody_objects; // record how many objects we're reporting on\n\n  {\n    let i = 0,\n      index = _objects.length;\n\n    while (index--) {\n      const object = _objects[index];\n\n      if (object && object.type === 1) { // RigidBodies.\n        // #TODO: we can't use center of mass transform when center of mass can change,\n        //        but getMotionState().getWorldTransform() screws up on objects that have been moved\n        // object.getMotionState().getWorldTransform( transform );\n        // object.getMotionState().getWorldTransform(_transform);\n\n        const transform = object.getCenterOfMassTransform();\n        const origin = transform.getOrigin();\n        const rotation = transform.getRotation();\n\n        // add values to report\n        const offset = 2 + (i++) * WORLDREPORT_ITEMSIZE;\n\n        worldreport[offset] = object.id;\n\n        worldreport[offset + 1] = origin.x();\n        worldreport[offset + 2] = origin.y();\n        worldreport[offset + 3] = origin.z();\n\n        worldreport[offset + 4] = rotation.x();\n        worldreport[offset + 5] = rotation.y();\n        worldreport[offset + 6] = rotation.z();\n        worldreport[offset + 7] = rotation.w();\n\n        _vector = object.getLinearVelocity();\n        worldreport[offset + 8] = _vector.x();\n        worldreport[offset + 9] = _vector.y();\n        worldreport[offset + 10] = _vector.z();\n\n        _vector = object.getAngularVelocity();\n        worldreport[offset + 11] = _vector.x();\n        worldreport[offset + 12] = _vector.y();\n        worldreport[offset + 13] = _vector.z();\n      }\n    }\n  }\n\n  if (SUPPORT_TRANSFERABLE) send(worldreport.buffer, [worldreport.buffer]);\n  else send(worldreport);\n};\n\nconst reportWorld_softbodies = () => {\n  // TODO: Add SUPPORTTRANSFERABLE.\n\n  softreport = new Float32Array(\n    2 // message id & # objects in report\n    +\n    _num_softbody_objects * 2 +\n    _softbody_report_size * 6\n  );\n\n  softreport[0] = MESSAGE_TYPES.SOFTREPORT;\n  softreport[1] = _num_softbody_objects; // record how many objects we're reporting on\n\n  {\n    let offset = 2,\n      index = _objects.length;\n\n    while (index--) {\n      const object = _objects[index];\n\n      if (object && object.type === 0) { // SoftBodies.\n\n        softreport[offset] = object.id;\n\n        const offsetVert = offset + 2;\n\n        if (object.rope === true) {\n          const nodes = object.get_m_nodes();\n          const size = nodes.size();\n          softreport[offset + 1] = size;\n\n          for (let i = 0; i < size; i++) {\n            const node = nodes.at(i);\n            const vert = node.get_m_x();\n            const off = offsetVert + i * 3;\n\n            softreport[off] = vert.x();\n            softreport[off + 1] = vert.y();\n            softreport[off + 2] = vert.z();\n          }\n\n          offset += size * 3 + 2;\n        }\n        else if (object.cloth) {\n          const nodes = object.get_m_nodes();\n          const size = nodes.size();\n          softreport[offset + 1] = size;\n\n          for (let i = 0; i < size; i++) {\n            const node = nodes.at(i);\n            const vert = node.get_m_x();\n            const normal = node.get_m_n();\n            const off = offsetVert + i * 6;\n\n            softreport[off] = vert.x();\n            softreport[off + 1] = vert.y();\n            softreport[off + 2] = vert.z();\n\n            softreport[off + 3] = -normal.x();\n            softreport[off + 4] = -normal.y();\n            softreport[off + 5] = -normal.z();\n          }\n\n          offset += size * 6 + 2;\n        }\n        else {\n          const faces = object.get_m_faces();\n          const size = faces.size();\n          softreport[offset + 1] = size;\n\n          for (let i = 0; i < size; i++) {\n            const face = faces.at(i);\n\n            const node1 = face.get_m_n(0);\n            const node2 = face.get_m_n(1);\n            const node3 = face.get_m_n(2);\n\n            const vert1 = node1.get_m_x();\n            const vert2 = node2.get_m_x();\n            const vert3 = node3.get_m_x();\n\n            const normal1 = node1.get_m_n();\n            const normal2 = node2.get_m_n();\n            const normal3 = node3.get_m_n();\n\n            const off = offsetVert + i * 18;\n\n            softreport[off] = vert1.x();\n            softreport[off + 1] = vert1.y();\n            softreport[off + 2] = vert1.z();\n\n            softreport[off + 3] = normal1.x();\n            softreport[off + 4] = normal1.y();\n            softreport[off + 5] = normal1.z();\n\n            softreport[off + 6] = vert2.x();\n            softreport[off + 7] = vert2.y();\n            softreport[off + 8] = vert2.z();\n\n            softreport[off + 9] = normal2.x();\n            softreport[off + 10] = normal2.y();\n            softreport[off + 11] = normal2.z();\n\n            softreport[off + 12] = vert3.x();\n            softreport[off + 13] = vert3.y();\n            softreport[off + 14] = vert3.z();\n\n            softreport[off + 15] = normal3.x();\n            softreport[off + 16] = normal3.y();\n            softreport[off + 17] = normal3.z();\n          }\n\n          offset += size * 18 + 2;\n        }\n      }\n    }\n  }\n\n  // if (SUPPORT_TRANSFERABLE) send(softreport.buffer, [softreport.buffer]);\n  // else send(softreport);\n  send(softreport);\n};\n\nconst reportCollisions = () => {\n  const dp = world.getDispatcher(),\n    num = dp.getNumManifolds();\n  // _collided = false;\n\n  if (SUPPORT_TRANSFERABLE) {\n    if (collisionreport.length < 2 + num * COLLISIONREPORT_ITEMSIZE) {\n      collisionreport = new Float32Array(\n        2 // message id & # objects in report\n        +\n        (Math.ceil(_num_objects / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE) * COLLISIONREPORT_ITEMSIZE // # of values needed * item size\n      );\n      collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;\n    }\n  }\n\n  collisionreport[1] = 0; // how many collisions we're reporting on\n\n  for (let i = 0; i < num; i++) {\n    const manifold = dp.getManifoldByIndexInternal(i),\n      num_contacts = manifold.getNumContacts();\n\n    if (num_contacts === 0) continue;\n\n    for (let j = 0; j < num_contacts; j++) {\n      const pt = manifold.getContactPoint(j);\n\n      // if ( pt.getDistance() < 0 ) {\n      const offset = 2 + (collisionreport[1]++) * COLLISIONREPORT_ITEMSIZE;\n      collisionreport[offset] = _objects_ammo[manifold.getBody0().ptr];\n      collisionreport[offset + 1] = _objects_ammo[manifold.getBody1().ptr];\n\n      _vector = pt.get_m_normalWorldOnB();\n      collisionreport[offset + 2] = _vector.x();\n      collisionreport[offset + 3] = _vector.y();\n      collisionreport[offset + 4] = _vector.z();\n      break;\n      // }\n      // send(_objects_ammo);\n    }\n  }\n\n  if (SUPPORT_TRANSFERABLE) send(collisionreport.buffer, [collisionreport.buffer]);\n  else send(collisionreport);\n};\n\nconst reportVehicles = function () {\n  if (SUPPORT_TRANSFERABLE) {\n    if (vehiclereport.length < 2 + _num_wheels * VEHICLEREPORT_ITEMSIZE) {\n      vehiclereport = new Float32Array(\n        2 // message id & # objects in report\n        +\n        (Math.ceil(_num_wheels / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE) * VEHICLEREPORT_ITEMSIZE // # of values needed * item size\n      );\n      vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;\n    }\n  }\n\n  {\n    let i = 0,\n      j = 0,\n      index = _vehicles.length;\n\n    while (index--) {\n      if (_vehicles[index]) {\n        const vehicle = _vehicles[index];\n\n        for (j = 0; j < vehicle.getNumWheels(); j++) {\n          // vehicle.updateWheelTransform( j, true );\n          // transform = vehicle.getWheelTransformWS( j );\n          const transform = vehicle.getWheelInfo(j).get_m_worldTransform();\n\n          const origin = transform.getOrigin();\n          const rotation = transform.getRotation();\n\n          // add values to report\n          const offset = 1 + (i++) * VEHICLEREPORT_ITEMSIZE;\n\n          vehiclereport[offset] = index;\n          vehiclereport[offset + 1] = j;\n\n          vehiclereport[offset + 2] = origin.x();\n          vehiclereport[offset + 3] = origin.y();\n          vehiclereport[offset + 4] = origin.z();\n\n          vehiclereport[offset + 5] = rotation.x();\n          vehiclereport[offset + 6] = rotation.y();\n          vehiclereport[offset + 7] = rotation.z();\n          vehiclereport[offset + 8] = rotation.w();\n        }\n      }\n    }\n\n    if (SUPPORT_TRANSFERABLE && j !== 0) send(vehiclereport.buffer, [vehiclereport.buffer]);\n    else if (j !== 0) send(vehiclereport);\n  }\n};\n\nconst reportConstraints = function () {\n  if (SUPPORT_TRANSFERABLE) {\n    if (constraintreport.length < 2 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE) {\n      constraintreport = new Float32Array(\n        2 // message id & # objects in report\n        +\n        (Math.ceil(_num_constraints / REPORT_CHUNKSIZE) * REPORT_CHUNKSIZE) * CONSTRAINTREPORT_ITEMSIZE // # of values needed * item size\n      );\n      constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;\n    }\n  }\n\n  {\n    let offset = 0,\n      i = 0,\n      index = _constraints.lenght;\n\n    while (index--) {\n      if (_constraints[index]) {\n        const constraint = _constraints[index];\n        const offset_body = constraint.a;\n        const transform = constraint.ta;\n        const origin = transform.getOrigin();\n\n        // add values to report\n        offset = 1 + (i++) * CONSTRAINTREPORT_ITEMSIZE;\n\n        constraintreport[offset] = index;\n        constraintreport[offset + 1] = offset_body.id;\n        constraintreport[offset + 2] = origin.x;\n        constraintreport[offset + 3] = origin.y;\n        constraintreport[offset + 4] = origin.z;\n        constraintreport[offset + 5] = constraint.getBreakingImpulseThreshold();\n      }\n    }\n\n    if (SUPPORT_TRANSFERABLE && i !== 0) send(constraintreport.buffer, [constraintreport.buffer]);\n    else if (i !== 0) send(constraintreport);\n  }\n};\n\nself.onmessage = function (event) {\n  if (event.data instanceof Float32Array) {\n    // transferable object\n    switch (event.data[0]) {\n    case MESSAGE_TYPES.WORLDREPORT:\n      {\n        worldreport = new Float32Array(event.data);\n        break;\n      }\n    case MESSAGE_TYPES.COLLISIONREPORT:\n      {\n        collisionreport = new Float32Array(event.data);\n        break;\n      }\n    case MESSAGE_TYPES.VEHICLEREPORT:\n      {\n        vehiclereport = new Float32Array(event.data);\n        break;\n      }\n    case MESSAGE_TYPES.CONSTRAINTREPORT:\n      {\n        constraintreport = new Float32Array(event.data);\n        break;\n      }\n    default:\n    }\n\n    return;\n  }\n  else if (event.data.cmd && public_functions[event.data.cmd]) public_functions[event.data.cmd](event.data.params);\n};\n\nself.receive = self.onmessage;\n\n\n\n\n});","import WorldModuleBase from './core/WorldModuleBase';\n\nimport {\n  addObjectChildren,\n  MESSAGE_TYPES,\n  temp1Vector3,\n  temp1Matrix4,\n  REPORT_ITEMSIZE,\n  COLLISIONREPORT_ITEMSIZE,\n  VEHICLEREPORT_ITEMSIZE,\n  CONSTRAINTREPORT_ITEMSIZE\n} from '../api';\n\nimport PhysicsWorker from 'worker!../worker.js';\n\nexport class WorldModule extends WorldModuleBase {\n  constructor(...args) {\n    super(...args);\n\n    this.worker = new PhysicsWorker();\n    this.worker.transferableMessage = this.worker.webkitPostMessage || this.worker.postMessage;\n\n    this.isLoaded = false;\n\n    const options = this.options;\n\n    this.loader = new Promise((resolve, reject) => {\n      // if (options.wasm) {\n      //   fetch(options.wasm)\n      //     .then(response => response.arrayBuffer())\n      //     .then(buffer => {\n      //       options.wasmBuffer = buffer;\n      //\n      //       this.execute('init', options);\n      //       resolve();\n      //     });\n      // } else {\n        this.execute('init', options);\n        resolve();\n      // }\n    });\n\n    this.loader.then(() => {this.isLoaded = true});\n\n    // Test SUPPORT_TRANSFERABLE\n\n    const ab = new ArrayBuffer(1);\n    this.worker.transferableMessage(ab, [ab]);\n    this.SUPPORT_TRANSFERABLE = (ab.byteLength === 0);\n\n    this.setup();\n  }\n\n  send(...args) {\n    this.worker.transferableMessage(...args);\n  }\n\n  receive(callback) {\n    this.worker.addEventListener('message', callback);\n  }\n}\n","import {Vector3, Quaternion} from 'three';\n\nconst properties = {\n  position: {\n    get() {\n      return this._native.position;\n    },\n\n    set(vector3) {\n      const pos = this._native.position;\n      const scope = this;\n\n      Object.defineProperties(pos, {\n        x: {\n          get() {\n            return this._x;\n          },\n\n          set(x) {\n            scope.__dirtyPosition = true;\n            this._x = x;\n          }\n        },\n        y: {\n          get() {\n            return this._y;\n          },\n\n          set(y) {\n            scope.__dirtyPosition = true;\n            this._y = y;\n          }\n        },\n        z: {\n          get() {\n            return this._z;\n          },\n\n          set(z) {\n            scope.__dirtyPosition = true;\n            this._z = z;\n          }\n        }\n      });\n\n      scope.__dirtyPosition = true;\n\n      pos.copy(vector3);\n    }\n  },\n\n  quaternion: {\n    get() {\n      this.__c_rot = true;\n      return this.native.quaternion;\n    },\n\n    set(quaternion) {\n      const quat = this._native.quaternion,\n        native = this._native;\n\n      quat.copy(quaternion);\n\n      quat.onChange(() => {\n        if (this.__c_rot) {\n          if (native.__dirtyRotation === true) {\n            this.__c_rot = false;\n            native.__dirtyRotation = false;\n          }\n          native.__dirtyRotation = true;\n        }\n      });\n    }\n  },\n\n  rotation: {\n    get() {\n      this.__c_rot = true;\n      return this._native.rotation;\n    },\n\n    set(euler) {\n      const rot = this._native.rotation,\n        native = this._native;\n\n      this.quaternion.copy(new Quaternion().setFromEuler(euler));\n\n      rot.onChange(() => {\n        if (this.__c_rot) {\n          this.quaternion.copy(new Quaternion().setFromEuler(rot));\n          native.__dirtyRotation = true;\n        }\n      });\n    }\n  }\n}\n\nfunction wrapPhysicsPrototype(scope) {\n  for (let key in properties) {\n    Object.defineProperty(scope, key, {\n      get: properties[key].get.bind(scope),\n      set: properties[key].set.bind(scope),\n      configurable: true,\n      enumerable: true\n    });\n  }\n}\n\nfunction onCopy(source) {\n  wrapPhysicsPrototype(this);\n\n  const physics = this.use('physics');\n  const sourcePhysics = source.use('physics');\n\n  this.manager.modules.physics = physics.clone(this.manager);\n\n  physics.data = {...sourcePhysics.data};\n  physics.data.isSoftBodyReset = false;\n  if (physics.data.isSoftbody) physics.data.isSoftBodyReset = false;\n\n  this.position = this.position.clone();\n  this.rotation = this.rotation.clone();\n  this.quaternion = this.quaternion.clone();\n\n  return source;\n}\n\nfunction onWrap() {\n  this.position = this.position.clone();\n  this.rotation = this.rotation.clone();\n  this.quaternion = this.quaternion.clone();\n}\n\nclass API {\n  applyCentralImpulse(force) {\n    this.execute('applyCentralImpulse', {id: this.data.id, x: force.x, y: force.y, z: force.z});\n  }\n\n  applyImpulse(force, offset) {\n    this.execute('applyImpulse', {\n      id: this.data.id,\n      impulse_x: force.x,\n      impulse_y: force.y,\n      impulse_z: force.z,\n      x: offset.x,\n      y: offset.y,\n      z: offset.z\n    });\n  }\n\n  applyTorque(force) {\n    this.execute('applyTorque', {\n      id: this.data.id,\n      torque_x: force.x,\n      torque_y: force.y,\n      torque_z: force.z\n    });\n  }\n\n  applyCentralForce(force) {\n    this.execute('applyCentralForce', {\n      id: this.data.id,\n      x: force.x,\n      y: force.y,\n      z: force.z\n    });\n  }\n\n  applyForce(force, offset) {\n    this.execute('applyForce', {\n      id: this.data.id,\n      force_x: force.x,\n      force_y: force.y,\n      force_z: force.z,\n      x: offset.x,\n      y: offset.y,\n      z: offset.z\n    });\n  }\n\n  getAngularVelocity() {\n    return this.data.angularVelocity;\n  }\n\n  setAngularVelocity(velocity) {\n    this.execute(\n      'setAngularVelocity',\n      {id: this.data.id, x: velocity.x, y: velocity.y, z: velocity.z}\n    );\n  }\n\n  getLinearVelocity() {\n    return this.data.linearVelocity;\n  }\n\n  setLinearVelocity(velocity) {\n    this.execute(\n      'setLinearVelocity',\n      {id: this.data.id, x: velocity.x, y: velocity.y, z: velocity.z}\n    );\n  }\n\n  setAngularFactor(factor) {\n    this.execute(\n      'setAngularFactor',\n      {id: this.data.id, x: factor.x, y: factor.y, z: factor.z}\n    );\n  }\n\n  setLinearFactor(factor) {\n    this.execute(\n      'setLinearFactor',\n      {id: this.data.id, x: factor.x, y: factor.y, z: factor.z}\n    );\n  }\n\n  setDamping(linear, angular) {\n    this.execute(\n      'setDamping',\n      {id: this.data.id, linear, angular}\n    );\n  }\n\n  setCcdMotionThreshold(threshold) {\n    this.execute(\n      'setCcdMotionThreshold',\n      {id: this.data.id, threshold}\n    );\n  }\n\n  setCcdSweptSphereRadius(radius) {\n    this.execute('setCcdSweptSphereRadius', {id: this.data.id, radius});\n  }\n}\n\nexport default class extends API {\n  static rigidbody = () => ({\n    touches: [],\n    linearVelocity: new Vector3(),\n    angularVelocity: new Vector3(),\n    mass: 10,\n    scale: new Vector3(1, 1, 1),\n    restitution: 0.3,\n    friction: 0.8,\n    damping: 0,\n    margin: 0\n  });\n\n  static softbody = () => ({\n    touches: [],\n    restitution: 0.3,\n    friction: 0.8,\n    damping: 0,\n    scale: new Vector3(1, 1, 1),\n    pressure: 100,\n    margin: 0,\n    klst: 0.9,\n    kvst: 0.9,\n    kast: 0.9,\n    piterations: 1,\n    viterations: 0,\n    diterations: 0,\n    citerations: 4,\n    anchorHardness: 0.7,\n    rigidHardness: 1,\n    isSoftbody: true,\n    isSoftBodyReset: false\n  });\n\n  static rope = () => ({\n    touches: [],\n    friction: 0.8,\n    scale: new Vector3(1, 1, 1),\n    damping: 0,\n    margin: 0,\n    klst: 0.9,\n    kvst: 0.9,\n    kast: 0.9,\n    piterations: 1,\n    viterations: 0,\n    diterations: 0,\n    citerations: 4,\n    anchorHardness: 0.7,\n    rigidHardness: 1,\n    isSoftbody: true\n  });\n\n  static cloth = () => ({\n    touches: [],\n    friction: 0.8,\n    damping: 0,\n    margin: 0,\n    scale: new Vector3(1, 1, 1),\n    klst: 0.9,\n    kvst: 0.9,\n    kast: 0.9,\n    piterations: 1,\n    viterations: 0,\n    diterations: 0,\n    citerations: 4,\n    anchorHardness: 0.7,\n    rigidHardness: 1\n  });\n\n  constructor(defaults, data) {\n    super();\n    this.data = Object.assign(defaults, data);\n  }\n\n  integrate(self) {\n    wrapPhysicsPrototype(this);\n  }\n\n  manager(manager) {\n    manager.define('physics');\n\n    this.execute = (...data) => {\n      return manager.has('module:world')\n      ? manager.get('module:world').execute(...data)\n      : () => {};\n    };\n  }\n\n  updateData(callback) {\n    this.bridge.geometry = function (geometry, module) {\n      if (!callback) return geometry;\n\n      const result = callback(geometry, module);\n      return result ? result : geometry;\n    }\n  }\n\n  clone(manager) {\n    const clone = new this.constructor();\n    clone.data = {...this.data};\n    clone.bridge.geometry = this.bridge.geometry;\n    this.manager.apply(clone, [manager]);\n\n    return clone;\n  }\n\n  bridge = {\n    onCopy,\n    onWrap\n  };\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class BoxModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'box',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n      data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;\n      data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;\n      data.depth = data.depth || geometry.boundingBox.max.z - geometry.boundingBox.min.z;\n    });\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class CompoundModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'compound',\n      ...PhysicsModule.rigidbody()\n    }, params);\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\n\n// TODO: Test CapsuleModule in action.\nexport class CapsuleModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'capsule',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n      data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;\n      data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;\n      data.depth = data.depth || geometry.boundingBox.max.z - geometry.boundingBox.min.z;\n    });\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class ConcaveModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'concave',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      data.data = this.geometryProcessor(geometry);\n    });\n  }\n\n  geometryProcessor(geometry) {\n    if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n    const data = geometry.isBufferGeometry ?\n      geometry.attributes.position.array :\n      new Float32Array(geometry.faces.length * 9);\n\n    if (!geometry.isBufferGeometry) {\n      const vertices = geometry.vertices;\n\n      for (let i = 0; i < geometry.faces.length; i++) {\n        const face = geometry.faces[i];\n\n        const vA = vertices[face.a];\n        const vB = vertices[face.b];\n        const vC = vertices[face.c];\n\n        const i9 = i * 9;\n\n        data[i9] = vA.x;\n        data[i9 + 1] = vA.y;\n        data[i9 + 2] = vA.z;\n\n        data[i9 + 3] = vB.x;\n        data[i9 + 4] = vB.y;\n        data[i9 + 5] = vB.z;\n\n        data[i9 + 6] = vC.x;\n        data[i9 + 7] = vC.y;\n        data[i9 + 8] = vC.z;\n      }\n    }\n\n    return data;\n  };\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class ConeModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'cone',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n      data.radius = data.radius || (geometry.boundingBox.max.x - geometry.boundingBox.min.x) / 2;\n      data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;\n    });\n  }\n}\n","import {BufferGeometry} from 'three';\nimport PhysicsModule from './core/PhysicsModule';\n\nexport class ConvexModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'convex',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n      if (!geometry.isBufferGeometry) geometry._bufferGeometry = new BufferGeometry().fromGeometry(geometry);\n\n      data.data = geometry.isBufferGeometry ?\n        geometry.attributes.position.array :\n        geometry._bufferGeometry.attributes.position.array;\n    });\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class CylinderModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'cylinder',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n      data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;\n      data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;\n      data.depth = data.depth || geometry.boundingBox.max.z - geometry.boundingBox.min.z;\n    });\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\nimport {Vector3, Vector2, BufferGeometry} from 'three';\n\nexport class HeightfieldModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'heightfield',\n      size: new Vector2(1, 1),\n      autoAlign: false,\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      const {x: xdiv, y: ydiv} = data.size;\n      const verts = geometry.isBufferGeometry ? geometry.attributes.position.array : geometry.vertices;\n      let size = geometry.isBufferGeometry ? verts.length / 3 : verts.length;\n\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n      const xsize = geometry.boundingBox.max.x - geometry.boundingBox.min.x;\n      const ysize = geometry.boundingBox.max.z - geometry.boundingBox.min.z;\n\n      data.xpts = (typeof xdiv === 'undefined') ? Math.sqrt(size) : xdiv + 1;\n      data.ypts = (typeof ydiv === 'undefined') ? Math.sqrt(size) : ydiv + 1;\n\n      // note - this assumes our plane geometry is square, unless we pass in specific xdiv and ydiv\n      data.absMaxHeight = Math.max(geometry.boundingBox.max.y, Math.abs(geometry.boundingBox.min.y));\n\n      const points = new Float32Array(size),\n        xpts = data.xpts,\n        ypts = data.ypts;\n\n      while (size--) {\n        const vNum = size % xpts + ((ypts - Math.round((size / xpts) - ((size % xpts) / xpts)) - 1) * ypts);\n\n        if (geometry.isBufferGeometry) points[size] = verts[vNum * 3 + 1];\n        else points[size] = verts[vNum].y;\n      }\n\n      data.points = points;\n\n      data.scale.multiply(\n        new Vector3(xsize / (xpts - 1), 1, ysize / (ypts - 1))\n      );\n\n      if (data.autoAlign) geometry.translate(xsize / -2, 0, ysize / -2);\n    });\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class PlaneModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'plane',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingBox) geometry.computeBoundingBox();\n\n      data.width = data.width || geometry.boundingBox.max.x - geometry.boundingBox.min.x;\n      data.height = data.height || geometry.boundingBox.max.y - geometry.boundingBox.min.y;\n      data.normal = data.normal || geometry.faces[0].normal.clone();\n    });\n  }\n}\n","import PhysicsModule from './core/PhysicsModule';\n\nexport class SphereModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'sphere',\n      ...PhysicsModule.rigidbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.boundingSphere) geometry.computeBoundingSphere();\n      data.radius = data.radius || geometry.boundingSphere.radius;\n    });\n  }\n}\n","import {BufferGeometry, BufferAttribute} from 'three';\nimport PhysicsModule from './core/PhysicsModule';\n\nexport class SoftbodyModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'softTrimesh',\n      ...PhysicsModule.softbody()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      const idxGeometry = geometry.isBufferGeometry\n        ? geometry\n        : (() => {\n          geometry.mergeVertices();\n\n          const bufferGeometry = new BufferGeometry();\n\n          bufferGeometry.addAttribute(\n            'position',\n            new BufferAttribute(\n              new Float32Array(geometry.vertices.length * 3),\n              3\n            ).copyVector3sArray(geometry.vertices)\n          );\n\n          bufferGeometry.setIndex(\n            new BufferAttribute(\n              new (geometry.faces.length * 3 > 65535 ? Uint32Array : Uint16Array)(geometry.faces.length * 3),\n              1\n            ).copyIndicesArray(geometry.faces)\n          );\n\n          return bufferGeometry;\n        })();\n\n      data.aVertices = idxGeometry.attributes.position.array;\n      data.aIndices = idxGeometry.index.array;\n\n      return new BufferGeometry().fromGeometry(geometry);\n    });\n  }\n\n  appendAnchor(object, node, influence = 1, collisionBetweenLinkedBodies = true) {\n    const o1 = this.data.id;\n    const o2 = object.use('physics').data.id;\n\n    this.execute('appendAnchor', {\n      obj: o1,\n      obj2: o2,\n      node,\n      influence,\n      collisionBetweenLinkedBodies\n    });\n  }\n}\n","import {BufferGeometry, BufferAttribute} from 'three';\nimport PhysicsModule from './core/PhysicsModule';\n\nfunction arrayMax(array) {\n\tif (array.length === 0) return - Infinity;\n\n\tvar max = array[0];\n\n\tfor (let i = 1, l = array.length; i < l; ++ i ) {\n\t\tif (array[ i ] > max) max = array[i];\n\t}\n\n\treturn max;\n}\n\nexport class ClothModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'softClothMesh',\n      ...PhysicsModule.cloth()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      const geomParams = geometry.parameters;\n\n      const geom = geometry.isBufferGeometry\n        ? geometry\n          : (() => {\n          geometry.mergeVertices();\n\n          const bufferGeometry = new BufferGeometry();\n\n          bufferGeometry.addAttribute(\n            'position',\n            new BufferAttribute(\n              new Float32Array(geometry.vertices.length * 3),\n              3\n            ).copyVector3sArray(geometry.vertices)\n          );\n\n\t\t\t\t\tconst faces = geometry.faces, facesLength = faces.length, uvs = geometry.faceVertexUvs[0];\n\n          const normalsArray = new Float32Array(facesLength * 3);\n          // const uvsArray = new Array(geometry.vertices.length * 2);\n          const uvsArray = new Float32Array(facesLength * 2);\n          const uvsReplacedArray = new Float32Array(facesLength * 6);\n\t\t\t\t\tconst faceArray = new Uint32Array(facesLength * 3);\n\n          for (let i = 0; i < facesLength; i++) {\n            const i3 = i * 3;\n            const i6 = i * 6;\n            const normal = faces[i].normal || new Vector3();\n\n\t\t\t\t\t\tfaceArray[i3] = faces[i].a;\n            faceArray[i3 + 1] = faces[i].b;\n            faceArray[i3 + 2] = faces[i].c;\n\n            normalsArray[i3] = normal.x;\n            normalsArray[i3 + 1] = normal.y;\n            normalsArray[i3 + 2] = normal.z;\n\n            uvsArray[faces[i].a * 2 + 0] = uvs[i][0].x; // a\n            uvsArray[faces[i].a * 2 + 1] = uvs[i][0].y;\n\n            uvsArray[faces[i].b * 2 + 0] = uvs[i][1].x; // b\n            uvsArray[faces[i].b * 2 + 1] = uvs[i][1].y;\n\n            uvsArray[faces[i].c * 2 + 0] = uvs[i][2].x; // c\n            uvsArray[faces[i].c * 2 + 1] = uvs[i][2].y;\n          }\n\n          bufferGeometry.addAttribute(\n            'normal',\n            new BufferAttribute(\n              normalsArray,\n              3\n            )\n          );\n\n          bufferGeometry.addAttribute(\n            'uv',\n            new BufferAttribute(\n              uvsArray,\n              2\n            )\n          );\n\n\t\t\t\t\tbufferGeometry.setIndex(\n            new BufferAttribute(\n              new (arrayMax(faces) * 3 > 65535 ? Uint32Array : Uint16Array)(facesLength * 3),\n              1\n            ).copyIndicesArray(faces)\n          );\n\n          return bufferGeometry;\n        })();\n\n      const verts = geom.attributes.position.array;\n\n      if (!geomParams.widthSegments) geomParams.widthSegments = 1;\n      if (!geomParams.heightSegments) geomParams.heightSegments = 1;\n\n      const idx00 = 0;\n      const idx01 = geomParams.widthSegments;\n      const idx10 = (geomParams.heightSegments + 1) * (geomParams.widthSegments + 1) - (geomParams.widthSegments + 1);\n      const idx11 = verts.length / 3 - 1;\n\n      data.corners = [\n        verts[idx01 * 3], verts[idx01 * 3 + 1], verts[idx01 * 3 + 2], //   ╗\n        verts[idx00 * 3], verts[idx00 * 3 + 1], verts[idx00 * 3 + 2], // ╔\n        verts[idx11 * 3], verts[idx11 * 3 + 1], verts[idx11 * 3 + 2], //       ╝\n        verts[idx10 * 3], verts[idx10 * 3 + 1], verts[idx10 * 3 + 2], //     ╚\n      ];\n\n      data.segments = [geomParams.widthSegments + 1, geomParams.heightSegments + 1];\n\n      return geom;\n    });\n  }\n\n  appendAnchor(object, node, influence, collisionBetweenLinkedBodies = true) {\n    const o1 = this.data.id;\n    const o2 = object.use('physics').data.id;\n\n    this.execute('appendAnchor', {\n      obj: o1,\n      obj2: o2,\n      node,\n      influence,\n      collisionBetweenLinkedBodies\n    });\n  }\n\n\tlinkNodes(object, n1, n2, modifier) {\n    const self = this.data.id;\n    const body = object.use('physics').data.id;\n\n    this.execute('linkNodes', {\n      self,\n\t\t\tbody,\n      n1, // self node\n      n2, // body node\n\t\t\tmodifier\n    });\n  }\n\n  appendLinearJoint(object, specs) {\n    const self = this.data.id;\n    const body = object.use('physics').data.id;\n\n    this.execute('appendLinearJoint', {\n      self,\n      body,\n      specs\n    });\n  }\n}\n","import {BufferGeometry, BufferAttribute, Vector3} from 'three';\nimport PhysicsModule from './core/PhysicsModule';\n\nexport class RopeModule extends PhysicsModule {\n  constructor(params) {\n    super({\n      type: 'softRopeMesh',\n      ...PhysicsModule.rope()\n    }, params);\n\n    this.updateData((geometry, {data}) => {\n      if (!geometry.isBufferGeometry) {\n        geometry = (() => {\n          const buff = new BufferGeometry();\n\n          buff.addAttribute(\n            'position',\n            new BufferAttribute(\n              new Float32Array(geometry.vertices.length * 3),\n              3\n            ).copyVector3sArray(geometry.vertices)\n          );\n\n          return buff;\n        })();\n      }\n\n      const length = geometry.attributes.position.array.length / 3;\n      const vert = n => new Vector3().fromArray(geometry.attributes.position.array, n*3);\n\n      const v1 = vert(0);\n      const v2 = vert(length - 1);\n\n      data.data = [\n        v1.x, v1.y, v1.z,\n        v2.x, v2.y, v2.z,\n        length\n      ];\n\n      return geometry;\n    });\n  }\n\n  appendAnchor(object, node, influence, collisionBetweenLinkedBodies = true) {\n    const o1 = this.data.id;\n    const o2 = object.use('physics').data.id;\n\n    this.execute('appendAnchor', {\n      obj: o1,\n      obj2: o2,\n      node,\n      influence,\n      collisionBetweenLinkedBodies\n    });\n  }\n}\n","import {Loop} from 'whs';\n\nimport {\n  Object3D,\n  Quaternion,\n  Vector3,\n  Euler\n} from 'three';\n\nconst PI_2 = Math.PI / 2;\n\n// TODO: Fix DOM\nfunction FirstPersonControlsSolver(camera, mesh, params) {\n  const velocityFactor = 1;\n  let runVelocity = 0.25;\n\n  mesh.use('physics').setAngularFactor({x: 0, y: 0, z: 0});\n  camera.position.set(0, 0, 0);\n\n  /* Init */\n  const player = mesh,\n    pitchObject = new Object3D();\n\n  pitchObject.add(camera.native);\n\n  const yawObject = new Object3D();\n\n  yawObject.position.y = params.ypos; // eyes are 2 meters above the ground\n  yawObject.add(pitchObject);\n\n  const quat = new Quaternion();\n\n  let canJump = false,\n    // Moves.\n    moveForward = false,\n    moveBackward = false,\n    moveLeft = false,\n    moveRight = false;\n\n  player.on('collision', (otherObject, v, r, contactNormal) => {\n    console.log(contactNormal.y);\n    if (contactNormal.y < 0.5) // Use a \"good\" threshold value between 0 and 1 here!\n      canJump = true;\n  });\n\n  const onMouseMove = event => {\n    if (this.enabled === false) return;\n\n    const movementX = typeof event.movementX === 'number'\n      ? event.movementX : typeof event.mozMovementX === 'number'\n        ? event.mozMovementX : typeof event.getMovementX === 'function'\n          ? event.getMovementX() : 0;\n    const movementY = typeof event.movementY === 'number'\n      ? event.movementY : typeof event.mozMovementY === 'number'\n        ? event.mozMovementY : typeof event.getMovementY === 'function'\n          ? event.getMovementY() : 0;\n\n    yawObject.rotation.y -= movementX * 0.002;\n    pitchObject.rotation.x -= movementY * 0.002;\n\n    pitchObject.rotation.x = Math.max(-PI_2, Math.min(PI_2, pitchObject.rotation.x));\n  };\n\n  const physics = player.use('physics');\n\n  const onKeyDown = event => {\n    switch (event.keyCode) {\n      case 38: // up\n      case 87: // w\n        moveForward = true;\n        break;\n\n      case 37: // left\n      case 65: // a\n        moveLeft = true;\n        break;\n\n      case 40: // down\n      case 83: // s\n        moveBackward = true;\n        break;\n\n      case 39: // right\n      case 68: // d\n        moveRight = true;\n        break;\n\n      case 32: // space\n        console.log(canJump);\n        if (canJump === true) physics.applyCentralImpulse({x: 0, y: 300, z: 0});\n        canJump = false;\n        break;\n\n      case 16: // shift\n        runVelocity = 0.5;\n        break;\n\n      default:\n    }\n  };\n\n  const onKeyUp = event => {\n    switch (event.keyCode) {\n      case 38: // up\n      case 87: // w\n        moveForward = false;\n        break;\n\n      case 37: // left\n      case 65: // a\n        moveLeft = false;\n        break;\n\n      case 40: // down\n      case 83: // a\n        moveBackward = false;\n        break;\n\n      case 39: // right\n      case 68: // d\n        moveRight = false;\n        break;\n\n      case 16: // shift\n        runVelocity = 0.25;\n        break;\n\n      default:\n    }\n  };\n\n  document.body.addEventListener('mousemove', onMouseMove, false);\n  document.body.addEventListener('keydown', onKeyDown, false);\n  document.body.addEventListener('keyup', onKeyUp, false);\n\n  this.enabled = false;\n  this.getObject = () => yawObject;\n\n  this.getDirection = targetVec => {\n    targetVec.set(0, 0, -1);\n    quat.multiplyVector3(targetVec);\n  };\n\n  // Moves the camera to the Physi.js object position\n  // and adds velocity to the object if the run key is down.\n  const inputVelocity = new Vector3(),\n    euler = new Euler();\n\n  this.update = delta => {\n    if (this.enabled === false) return;\n\n    delta = delta || 0.5;\n    delta = Math.min(delta, 0.5, delta);\n\n    inputVelocity.set(0, 0, 0);\n\n    const speed = velocityFactor * delta * params.speed * runVelocity;\n\n    if (moveForward) inputVelocity.z = -speed;\n    if (moveBackward) inputVelocity.z = speed;\n    if (moveLeft) inputVelocity.x = -speed;\n    if (moveRight) inputVelocity.x = speed;\n\n    // Convert velocity to world coordinates\n    euler.x = pitchObject.rotation.x;\n    euler.y = yawObject.rotation.y;\n    euler.order = 'XYZ';\n\n    quat.setFromEuler(euler);\n\n    inputVelocity.applyQuaternion(quat);\n\n    physics.applyCentralImpulse({x: inputVelocity.x, y: 0, z: inputVelocity.z});\n    physics.setAngularVelocity({x: inputVelocity.z, y: 0, z: -inputVelocity.x});\n    physics.setAngularFactor({x: 0, y: 0, z: 0});\n  };\n\n  player.on('physics:added', () => {\n    player.manager.get('module:world').addEventListener('update', () => {\n      if (this.enabled === false) return;\n      yawObject.position.copy(player.position);\n    });\n  });\n}\n\nexport class FirstPersonModule {\n  static defaults = {\n    block: null,\n    speed: 1,\n    ypos: 1\n  };\n\n  constructor(object, params = {}) {\n    this.object = object;\n    this.params = params;\n\n    if (!this.params.block) {\n      this.params.block = document.getElementById('blocker');\n    }\n  }\n\n  manager(manager) {\n    this.controls = new FirstPersonControlsSolver(manager.get('camera'), this.object, this.params);\n\n    if ('pointerLockElement' in document\n      || 'mozPointerLockElement' in document\n      || 'webkitPointerLockElement' in document) {\n      const element = document.body;\n\n      const pointerlockchange = () => {\n        if (document.pointerLockElement === element\n          || document.mozPointerLockElement === element\n          || document.webkitPointerLockElement === element) {\n          this.controls.enabled = true;\n          this.params.block.style.display = 'none';\n        } else {\n          this.controls.enabled = false;\n          this.params.block.style.display = 'block';\n        }\n      };\n\n      document.addEventListener('pointerlockchange', pointerlockchange, false);\n      document.addEventListener('mozpointerlockchange', pointerlockchange, false);\n      document.addEventListener('webkitpointerlockchange', pointerlockchange, false);\n\n      const pointerlockerror = function () {\n        console.warn('Pointer lock error.');\n      };\n\n      document.addEventListener('pointerlockerror', pointerlockerror, false);\n      document.addEventListener('mozpointerlockerror', pointerlockerror, false);\n      document.addEventListener('webkitpointerlockerror', pointerlockerror, false);\n\n      document.querySelector('body').addEventListener('click', () => {\n        element.requestPointerLock = element.requestPointerLock\n          || element.mozRequestPointerLock\n          || element.webkitRequestPointerLock;\n\n        element.requestFullscreen = element.requestFullscreen\n          || element.mozRequestFullscreen\n          || element.mozRequestFullScreen\n          || element.webkitRequestFullscreen;\n\n        if (/Firefox/i.test(navigator.userAgent)) {\n          const fullscreenchange = () => {\n            if (document.fullscreenElement === element\n              || document.mozFullscreenElement === element\n              || document.mozFullScreenElement === element) {\n              document.removeEventListener('fullscreenchange', fullscreenchange);\n              document.removeEventListener('mozfullscreenchange', fullscreenchange);\n\n              element.requestPointerLock();\n            }\n          };\n\n          document.addEventListener('fullscreenchange', fullscreenchange, false);\n          document.addEventListener('mozfullscreenchange', fullscreenchange, false);\n\n          element.requestFullscreen();\n        } else element.requestPointerLock();\n      });\n    } else console.warn('Your browser does not support the PointerLock');\n\n    manager.get('scene').add(this.controls.getObject());\n  }\n\n  integrate(self) {\n    const updateProcessor = c => {\n      self.controls.update(c.getDelta());\n    };\n\n    self.updateLoop = new Loop(updateProcessor).start(this);\n  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