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This commit is contained in:
Azeem Fidahusein
2025-07-28 22:43:55 +01:00
parent d70b6714c3
commit af090f5bf0
2530 changed files with 1410652 additions and 0 deletions
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39
app/node_modules/@dimforge/rapier3d-compat/pipeline/debug_render_pipeline.d.ts generated vendored Normal file
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import { RawDebugRenderPipeline } from "../raw";
import { ImpulseJointSet, MultibodyJointSet, RigidBodySet } from "../dynamics";
import { ColliderSet, NarrowPhase } from "../geometry";
/**
* The vertex and color buffers for debug-redering the physics scene.
*/
export declare class DebugRenderBuffers {
/**
* The lines to render. This is a flat array containing all the lines
* to render. Each line is described as two consecutive point. Each
* point is described as two (in 2D) or three (in 3D) consecutive
* floats. For example, in 2D, the array: `[1, 2, 3, 4, 5, 6, 7, 8]`
* describes the two segments `[[1, 2], [3, 4]]` and `[[5, 6], [7, 8]]`.
*/
vertices: Float32Array;
/**
* The color buffer. There is one color per vertex, and each color
* has four consecutive components (in RGBA format).
*/
colors: Float32Array;
constructor(vertices: Float32Array, colors: Float32Array);
}
/**
* A pipeline for rendering the physics scene.
*
* To avoid leaking WASM resources, this MUST be freed manually with `debugRenderPipeline.free()`
* once you are done using it (and all the rigid-bodies it created).
*/
export declare class DebugRenderPipeline {
raw: RawDebugRenderPipeline;
vertices: Float32Array;
colors: Float32Array;
/**
* Release the WASM memory occupied by this serialization pipeline.
*/
free(): void;
constructor(raw?: RawDebugRenderPipeline);
render(bodies: RigidBodySet, colliders: ColliderSet, impulse_joints: ImpulseJointSet, multibody_joints: MultibodyJointSet, narrow_phase: NarrowPhase): void;
}

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app/node_modules/@dimforge/rapier3d-compat/pipeline/event_queue.d.ts generated vendored Normal file
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import { RawContactForceEvent, RawEventQueue } from "../raw";
import { ColliderHandle } from "../geometry";
import { Vector } from "../math";
/**
* Flags indicating what events are enabled for colliders.
*/
export declare enum ActiveEvents {
NONE = 0,
/**
* Enable collision events.
*/
COLLISION_EVENTS = 1,
/**
* Enable contact force events.
*/
CONTACT_FORCE_EVENTS = 2
}
/**
* Event occurring when the sum of the magnitudes of the
* contact forces between two colliders exceed a threshold.
*
* This object should **not** be stored anywhere. Its properties can only be
* read from within the closure given to `EventHandler.drainContactForceEvents`.
*/
export declare class TempContactForceEvent {
raw: RawContactForceEvent;
free(): void;
/**
* The first collider involved in the contact.
*/
collider1(): ColliderHandle;
/**
* The second collider involved in the contact.
*/
collider2(): ColliderHandle;
/**
* The sum of all the forces between the two colliders.
*/
totalForce(): Vector;
/**
* The sum of the magnitudes of each force between the two colliders.
*
* Note that this is **not** the same as the magnitude of `self.total_force`.
* Here we are summing the magnitude of all the forces, instead of taking
* the magnitude of their sum.
*/
totalForceMagnitude(): number;
/**
* The world-space (unit) direction of the force with strongest magnitude.
*/
maxForceDirection(): Vector;
/**
* The magnitude of the largest force at a contact point of this contact pair.
*/
maxForceMagnitude(): number;
}
/**
* A structure responsible for collecting events generated
* by the physics engine.
*
* To avoid leaking WASM resources, this MUST be freed manually with `eventQueue.free()`
* once you are done using it.
*/
export declare class EventQueue {
raw: RawEventQueue;
/**
* Creates a new event collector.
*
* @param autoDrain -setting this to `true` is strongly recommended. If true, the collector will
* be automatically drained before each `world.step(collector)`. If false, the collector will
* keep all events in memory unless it is manually drained/cleared; this may lead to unbounded use of
* RAM if no drain is performed.
*/
constructor(autoDrain: boolean, raw?: RawEventQueue);
/**
* Release the WASM memory occupied by this event-queue.
*/
free(): void;
/**
* Applies the given javascript closure on each collision event of this collector, then clear
* the internal collision event buffer.
*
* @param f - JavaScript closure applied to each collision event. The
* closure must take three arguments: two integers representing the handles of the colliders
* involved in the collision, and a boolean indicating if the collision started (true) or stopped
* (false).
*/
drainCollisionEvents(f: (handle1: ColliderHandle, handle2: ColliderHandle, started: boolean) => void): void;
/**
* Applies the given javascript closure on each contact force event of this collector, then clear
* the internal collision event buffer.
*
* @param f - JavaScript closure applied to each collision event. The
* closure must take one `TempContactForceEvent` argument.
*/
drainContactForceEvents(f: (event: TempContactForceEvent) => void): void;
/**
* Removes all events contained by this collector
*/
clear(): void;
}

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app/node_modules/@dimforge/rapier3d-compat/pipeline/index.d.ts generated vendored Normal file
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export * from "./world";
export * from "./physics_pipeline";
export * from "./serialization_pipeline";
export * from "./event_queue";
export * from "./physics_hooks";
export * from "./debug_render_pipeline";
export * from "./query_pipeline";

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app/node_modules/@dimforge/rapier3d-compat/pipeline/physics_hooks.d.ts generated vendored Normal file
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import { RigidBodyHandle } from "../dynamics";
import { ColliderHandle } from "../geometry";
export declare enum ActiveHooks {
NONE = 0,
FILTER_CONTACT_PAIRS = 1,
FILTER_INTERSECTION_PAIRS = 2
}
export declare enum SolverFlags {
EMPTY = 0,
COMPUTE_IMPULSE = 1
}
export interface PhysicsHooks {
/**
* Function that determines if contacts computation should happen between two colliders, and how the
* constraints solver should behave for these contacts.
*
* This will only be executed and taken into account if at least one of the involved colliders contains the
* `ActiveHooks.FILTER_CONTACT_PAIR` flag in its active hooks.
*
* @param collider1 − Handle of the first collider involved in the potential contact.
* @param collider2 − Handle of the second collider involved in the potential contact.
* @param body1 − Handle of the first body involved in the potential contact.
* @param body2 − Handle of the second body involved in the potential contact.
*/
filterContactPair(collider1: ColliderHandle, collider2: ColliderHandle, body1: RigidBodyHandle, body2: RigidBodyHandle): SolverFlags | null;
/**
* Function that determines if intersection computation should happen between two colliders (where at least
* one is a sensor).
*
* This will only be executed and taken into account if `one of the involved colliders contains the
* `ActiveHooks.FILTER_INTERSECTION_PAIR` flag in its active hooks.
*
* @param collider1 − Handle of the first collider involved in the potential contact.
* @param collider2 − Handle of the second collider involved in the potential contact.
* @param body1 − Handle of the first body involved in the potential contact.
* @param body2 − Handle of the second body involved in the potential contact.
*/
filterIntersectionPair(collider1: ColliderHandle, collider2: ColliderHandle, body1: RigidBodyHandle, body2: RigidBodyHandle): boolean;
}

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app/node_modules/@dimforge/rapier3d-compat/pipeline/physics_pipeline.d.ts generated vendored Normal file
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import { RawPhysicsPipeline } from "../raw";
import { Vector } from "../math";
import { IntegrationParameters, ImpulseJointSet, MultibodyJointSet, RigidBodySet, CCDSolver, IslandManager } from "../dynamics";
import { BroadPhase, ColliderSet, NarrowPhase } from "../geometry";
import { EventQueue } from "./event_queue";
import { PhysicsHooks } from "./physics_hooks";
export declare class PhysicsPipeline {
raw: RawPhysicsPipeline;
free(): void;
constructor(raw?: RawPhysicsPipeline);
step(gravity: Vector, integrationParameters: IntegrationParameters, islands: IslandManager, broadPhase: BroadPhase, narrowPhase: NarrowPhase, bodies: RigidBodySet, colliders: ColliderSet, impulseJoints: ImpulseJointSet, multibodyJoints: MultibodyJointSet, ccdSolver: CCDSolver, eventQueue?: EventQueue, hooks?: PhysicsHooks): void;
}

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app/node_modules/@dimforge/rapier3d-compat/pipeline/query_pipeline.d.ts generated vendored Normal file
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import { RawQueryPipeline } from "../raw";
import { ColliderHandle, ColliderSet, InteractionGroups, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI } from "../geometry";
import { RigidBodyHandle, RigidBodySet } from "../dynamics";
import { Rotation, Vector } from "../math";
/**
* Flags for excluding whole sets of colliders from a scene query.
*/
export declare enum QueryFilterFlags {
/**
* Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
*/
EXCLUDE_FIXED = 1,
/**
* Exclude from the query any collider attached to a dynamic rigid-body.
*/
EXCLUDE_KINEMATIC = 2,
/**
* Exclude from the query any collider attached to a kinematic rigid-body.
*/
EXCLUDE_DYNAMIC = 4,
/**
* Exclude from the query any collider that is a sensor.
*/
EXCLUDE_SENSORS = 8,
/**
* Exclude from the query any collider that is not a sensor.
*/
EXCLUDE_SOLIDS = 16,
/**
* Excludes all colliders not attached to a dynamic rigid-body.
*/
ONLY_DYNAMIC = 3,
/**
* Excludes all colliders not attached to a kinematic rigid-body.
*/
ONLY_KINEMATIC = 5,
/**
* Exclude all colliders attached to a non-fixed rigid-body
* (this will not exclude colliders not attached to any rigid-body).
*/
ONLY_FIXED = 6
}
/**
* A pipeline for performing queries on all the colliders of a scene.
*
* To avoid leaking WASM resources, this MUST be freed manually with `queryPipeline.free()`
* once you are done using it (and all the rigid-bodies it created).
*/
export declare class QueryPipeline {
raw: RawQueryPipeline;
/**
* Release the WASM memory occupied by this query pipeline.
*/
free(): void;
constructor(raw?: RawQueryPipeline);
/**
* Updates the acceleration structure of the query pipeline.
* @param bodies - The set of rigid-bodies taking part in this pipeline.
* @param colliders - The set of colliders taking part in this pipeline.
*/
update(bodies: RigidBodySet, colliders: ColliderSet): void;
/**
* Find the closest intersection between a ray and a set of collider.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
* @param filter - The callback to filter out which collider will be hit.
*/
castRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderToi | null;
/**
* Find the closest intersection between a ray and a set of collider.
*
* This also computes the normal at the hit point.
* @param colliders - The set of colliders taking part in this pipeline.
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
*/
castRayAndGetNormal(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderIntersection | null;
/**
* Cast a ray and collects all the intersections between a ray and the scene.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
* @param callback - The callback called once per hit (in no particular order) between a ray and a collider.
* If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.
*/
intersectionsWithRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, callback: (intersect: RayColliderIntersection) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
/**
* Gets the handle of up to one collider intersecting the given shape.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param shapePos - The position of the shape used for the intersection test.
* @param shapeRot - The orientation of the shape used for the intersection test.
* @param shape - The shape used for the intersection test.
* @param groups - The bit groups and filter associated to the ray, in order to only
* hit the colliders with collision groups compatible with the ray's group.
*/
intersectionWithShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ColliderHandle | null;
/**
* Find the projection of a point on the closest collider.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param point - The point to project.
* @param solid - If this is set to `true` then the collider shapes are considered to
* be plain (if the point is located inside of a plain shape, its projection is the point
* itself). If it is set to `false` the collider shapes are considered to be hollow
* (if the point is located inside of an hollow shape, it is projected on the shape's
* boundary).
* @param groups - The bit groups and filter associated to the point to project, in order to only
* project on colliders with collision groups compatible with the ray's group.
*/
projectPoint(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
/**
* Find the projection of a point on the closest collider.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param point - The point to project.
* @param groups - The bit groups and filter associated to the point to project, in order to only
* project on colliders with collision groups compatible with the ray's group.
*/
projectPointAndGetFeature(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
/**
* Find all the colliders containing the given point.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param point - The point used for the containment test.
* @param groups - The bit groups and filter associated to the point to test, in order to only
* test on colliders with collision groups compatible with the ray's group.
* @param callback - A function called with the handles of each collider with a shape
* containing the `point`.
*/
intersectionsWithPoint(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, callback: (handle: ColliderHandle) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
/**
* Casts a shape at a constant linear velocity and retrieve the first collider it hits.
* This is similar to ray-casting except that we are casting a whole shape instead of
* just a point (the ray origin).
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param shapePos - The initial position of the shape to cast.
* @param shapeRot - The initial rotation of the shape to cast.
* @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
* @param shape - The shape to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
* the shape is penetrating another shape at its starting point **and** its trajectory is such
* that it’s on a path to exist that penetration state.
* @param groups - The bit groups and filter associated to the shape to cast, in order to only
* test on colliders with collision groups compatible with this group.
*/
castShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, stopAtPenetration: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ShapeColliderTOI | null;
/**
* Retrieve all the colliders intersecting the given shape.
*
* @param colliders - The set of colliders taking part in this pipeline.
* @param shapePos - The position of the shape to test.
* @param shapeRot - The orientation of the shape to test.
* @param shape - The shape to test.
* @param groups - The bit groups and filter associated to the shape to test, in order to only
* test on colliders with collision groups compatible with this group.
* @param callback - A function called with the handles of each collider intersecting the `shape`.
*/
intersectionsWithShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, callback: (handle: ColliderHandle) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
/**
* Finds the handles of all the colliders with an AABB intersecting the given AABB.
*
* @param aabbCenter - The center of the AABB to test.
* @param aabbHalfExtents - The half-extents of the AABB to test.
* @param callback - The callback that will be called with the handles of all the colliders
* currently intersecting the given AABB.
*/
collidersWithAabbIntersectingAabb(aabbCenter: Vector, aabbHalfExtents: Vector, callback: (handle: ColliderHandle) => boolean): void;
}

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app/node_modules/@dimforge/rapier3d-compat/pipeline/serialization_pipeline.d.ts generated vendored Normal file
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import { RawSerializationPipeline } from "../raw";
import { Vector } from "../math";
import { IntegrationParameters, IslandManager, ImpulseJointSet, MultibodyJointSet, RigidBodySet } from "../dynamics";
import { BroadPhase, ColliderSet, NarrowPhase } from "../geometry";
import { World } from "./world";
/**
* A pipeline for serializing the physics scene.
*
* To avoid leaking WASM resources, this MUST be freed manually with `queryPipeline.free()`
* once you are done using it (and all the rigid-bodies it created).
*/
export declare class SerializationPipeline {
raw: RawSerializationPipeline;
/**
* Release the WASM memory occupied by this serialization pipeline.
*/
free(): void;
constructor(raw?: RawSerializationPipeline);
/**
* Serialize a complete physics state into a single byte array.
* @param gravity - The current gravity affecting the simulation.
* @param integrationParameters - The integration parameters of the simulation.
* @param broadPhase - The broad-phase of the simulation.
* @param narrowPhase - The narrow-phase of the simulation.
* @param bodies - The rigid-bodies taking part into the simulation.
* @param colliders - The colliders taking part into the simulation.
* @param impulseJoints - The impulse joints taking part into the simulation.
* @param multibodyJoints - The multibody joints taking part into the simulation.
*/
serializeAll(gravity: Vector, integrationParameters: IntegrationParameters, islands: IslandManager, broadPhase: BroadPhase, narrowPhase: NarrowPhase, bodies: RigidBodySet, colliders: ColliderSet, impulseJoints: ImpulseJointSet, multibodyJoints: MultibodyJointSet): Uint8Array;
/**
* Deserialize the complete physics state from a single byte array.
*
* @param data - The byte array to deserialize.
*/
deserializeAll(data: Uint8Array): World;
}

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app/node_modules/@dimforge/rapier3d-compat/pipeline/world.d.ts generated vendored Normal file
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import { RawBroadPhase, RawCCDSolver, RawColliderSet, RawDeserializedWorld, RawIntegrationParameters, RawIslandManager, RawImpulseJointSet, RawMultibodyJointSet, RawNarrowPhase, RawPhysicsPipeline, RawQueryPipeline, RawRigidBodySet, RawSerializationPipeline, RawDebugRenderPipeline } from "../raw";
import { BroadPhase, Collider, ColliderDesc, ColliderHandle, ColliderSet, InteractionGroups, NarrowPhase, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI, TempContactManifold } from "../geometry";
import { CCDSolver, IntegrationParameters, IslandManager, ImpulseJoint, ImpulseJointHandle, MultibodyJoint, MultibodyJointHandle, JointData, ImpulseJointSet, MultibodyJointSet, RigidBody, RigidBodyDesc, RigidBodyHandle, RigidBodySet } from "../dynamics";
import { Rotation, Vector } from "../math";
import { PhysicsPipeline } from "./physics_pipeline";
import { QueryFilterFlags, QueryPipeline } from "./query_pipeline";
import { SerializationPipeline } from "./serialization_pipeline";
import { EventQueue } from "./event_queue";
import { PhysicsHooks } from "./physics_hooks";
import { DebugRenderBuffers, DebugRenderPipeline } from "./debug_render_pipeline";
import { KinematicCharacterController } from "../control";
import { DynamicRayCastVehicleController } from "../control";
/**
* The physics world.
*
* This contains all the data-structures necessary for creating and simulating
* bodies with contacts, joints, and external forces.
*/
export declare class World {
gravity: Vector;
integrationParameters: IntegrationParameters;
islands: IslandManager;
broadPhase: BroadPhase;
narrowPhase: NarrowPhase;
bodies: RigidBodySet;
colliders: ColliderSet;
impulseJoints: ImpulseJointSet;
multibodyJoints: MultibodyJointSet;
ccdSolver: CCDSolver;
queryPipeline: QueryPipeline;
physicsPipeline: PhysicsPipeline;
serializationPipeline: SerializationPipeline;
debugRenderPipeline: DebugRenderPipeline;
characterControllers: Set<KinematicCharacterController>;
vehicleControllers: Set<DynamicRayCastVehicleController>;
/**
* Release the WASM memory occupied by this physics world.
*
* All the fields of this physics world will be freed as well,
* so there is no need to call their `.free()` methods individually.
*/
free(): void;
constructor(gravity: Vector, rawIntegrationParameters?: RawIntegrationParameters, rawIslands?: RawIslandManager, rawBroadPhase?: RawBroadPhase, rawNarrowPhase?: RawNarrowPhase, rawBodies?: RawRigidBodySet, rawColliders?: RawColliderSet, rawImpulseJoints?: RawImpulseJointSet, rawMultibodyJoints?: RawMultibodyJointSet, rawCCDSolver?: RawCCDSolver, rawQueryPipeline?: RawQueryPipeline, rawPhysicsPipeline?: RawPhysicsPipeline, rawSerializationPipeline?: RawSerializationPipeline, rawDebugRenderPipeline?: RawDebugRenderPipeline);
static fromRaw(raw: RawDeserializedWorld): World;
/**
* Takes a snapshot of this world.
*
* Use `World.restoreSnapshot` to create a new physics world with a state identical to
* the state when `.takeSnapshot()` is called.
*/
takeSnapshot(): Uint8Array;
/**
* Creates a new physics world from a snapshot.
*
* This new physics world will be an identical copy of the snapshoted physics world.
*/
static restoreSnapshot(data: Uint8Array): World;
/**
* Computes all the lines (and their colors) needed to render the scene.
*/
debugRender(): DebugRenderBuffers;
/**
* Advance the simulation by one time step.
*
* All events generated by the physics engine are ignored.
*
* @param EventQueue - (optional) structure responsible for collecting
* events generated by the physics engine.
*/
step(eventQueue?: EventQueue, hooks?: PhysicsHooks): void;
/**
* Update colliders positions after rigid-bodies moved.
*
* When a rigid-body moves, the positions of the colliders attached to it need to be updated. This update is
* generally automatically done at the beginning and the end of each simulation step with World.step.
* If the positions need to be updated without running a simulation step this method can be called manually.
*/
propagateModifiedBodyPositionsToColliders(): void;
/**
* Ensure subsequent scene queries take into account the collider positions set before this method is called.
*
* This does not step the physics simulation forward.
*/
updateSceneQueries(): void;
/**
* The current simulation timestep.
*/
get timestep(): number;
/**
* Sets the new simulation timestep.
*
* The simulation timestep governs by how much the physics state of the world will
* be integrated. A simulation timestep should:
* - be as small as possible. Typical values evolve around 0.016 (assuming the chosen unit is milliseconds,
* corresponds to the time between two frames of a game running at 60FPS).
* - not vary too much during the course of the simulation. A timestep with large variations may
* cause instabilities in the simulation.
*
* @param dt - The timestep length, in seconds.
*/
set timestep(dt: number);
/**
* The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
*/
get numSolverIterations(): number;
/**
* Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).
*
* The greater this value is, the most rigid and realistic the physics simulation will be.
* However a greater number of iterations is more computationally intensive.
*
* @param niter - The new number of solver iterations.
*/
set numSolverIterations(niter: number);
/**
* Number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
*/
get numAdditionalFrictionIterations(): number;
/**
* Sets the number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
*
* The greater this value is, the most realistic friction will be.
* However a greater number of iterations is more computationally intensive.
*
* @param niter - The new number of additional friction iterations.
*/
set numAdditionalFrictionIterations(niter: number);
/**
* Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
*/
get numInternalPgsIterations(): number;
/**
* Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
*
* Increasing this parameter will improve stability of the simulation. It will have a lesser effect than
* increasing `numSolverIterations` but is also less computationally expensive.
*
* @param niter - The new number of internal PGS iterations.
*/
set numInternalPgsIterations(niter: number);
switchToStandardPgsSolver(): void;
switchToSmallStepsPgsSolver(): void;
/**
* Creates a new rigid-body from the given rigid-body descriptor.
*
* @param body - The description of the rigid-body to create.
*/
createRigidBody(body: RigidBodyDesc): RigidBody;
/**
* Creates a new character controller.
*
* @param offset - The artificial gap added between the character’s chape and its environment.
*/
createCharacterController(offset: number): KinematicCharacterController;
/**
* Removes a character controller from this world.
*
* @param controller - The character controller to remove.
*/
removeCharacterController(controller: KinematicCharacterController): void;
/**
* Creates a new vehicle controller.
*
* @param chassis - The rigid-body used as the chassis of the vehicle controller. When the vehicle
* controller is updated, it will change directly the rigid-body’s velocity. This
* rigid-body must be a dynamic or kinematic-velocity-based rigid-body.
*/
createVehicleController(chassis: RigidBody): DynamicRayCastVehicleController;
/**
* Removes a vehicle controller from this world.
*
* @param controller - The vehicle controller to remove.
*/
removeVehicleController(controller: DynamicRayCastVehicleController): void;
/**
* Creates a new collider.
*
* @param desc - The description of the collider.
* @param parent - The rigid-body this collider is attached to.
*/
createCollider(desc: ColliderDesc, parent?: RigidBody): Collider;
/**
* Creates a new impulse joint from the given joint descriptor.
*
* @param params - The description of the joint to create.
* @param parent1 - The first rigid-body attached to this joint.
* @param parent2 - The second rigid-body attached to this joint.
* @param wakeUp - Should the attached rigid-bodies be awakened?
*/
createImpulseJoint(params: JointData, parent1: RigidBody, parent2: RigidBody, wakeUp: boolean): ImpulseJoint;
/**
* Creates a new multibody joint from the given joint descriptor.
*
* @param params - The description of the joint to create.
* @param parent1 - The first rigid-body attached to this joint.
* @param parent2 - The second rigid-body attached to this joint.
* @param wakeUp - Should the attached rigid-bodies be awakened?
*/
createMultibodyJoint(params: JointData, parent1: RigidBody, parent2: RigidBody, wakeUp: boolean): MultibodyJoint;
/**
* Retrieves a rigid-body from its handle.
*
* @param handle - The integer handle of the rigid-body to retrieve.
*/
getRigidBody(handle: RigidBodyHandle): RigidBody;
/**
* Retrieves a collider from its handle.
*
* @param handle - The integer handle of the collider to retrieve.
*/
getCollider(handle: ColliderHandle): Collider;
/**
* Retrieves an impulse joint from its handle.
*
* @param handle - The integer handle of the impulse joint to retrieve.
*/
getImpulseJoint(handle: ImpulseJointHandle): ImpulseJoint;
/**
* Retrieves an multibody joint from its handle.
*
* @param handle - The integer handle of the multibody joint to retrieve.
*/
getMultibodyJoint(handle: MultibodyJointHandle): MultibodyJoint;
/**
* Removes the given rigid-body from this physics world.
*
* This will remove this rigid-body as well as all its attached colliders and joints.
* Every other bodies touching or attached by joints to this rigid-body will be woken-up.
*
* @param body - The rigid-body to remove.
*/
removeRigidBody(body: RigidBody): void;
/**
* Removes the given collider from this physics world.
*
* @param collider - The collider to remove.
* @param wakeUp - If set to `true`, the rigid-body this collider is attached to will be awaken.
*/
removeCollider(collider: Collider, wakeUp: boolean): void;
/**
* Removes the given impulse joint from this physics world.
*
* @param joint - The impulse joint to remove.
* @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.
*/
removeImpulseJoint(joint: ImpulseJoint, wakeUp: boolean): void;
/**
* Removes the given multibody joint from this physics world.
*
* @param joint - The multibody joint to remove.
* @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.
*/
removeMultibodyJoint(joint: MultibodyJoint, wakeUp: boolean): void;
/**
* Applies the given closure to each collider managed by this physics world.
*
* @param f(collider) - The function to apply to each collider managed by this physics world. Called as `f(collider)`.
*/
forEachCollider(f: (collider: Collider) => void): void;
/**
* Applies the given closure to each rigid-body managed by this physics world.
*
* @param f(body) - The function to apply to each rigid-body managed by this physics world. Called as `f(collider)`.
*/
forEachRigidBody(f: (body: RigidBody) => void): void;
/**
* Applies the given closure to each active rigid-body managed by this physics world.
*
* After a short time of inactivity, a rigid-body is automatically deactivated ("asleep") by
* the physics engine in order to save computational power. A sleeping rigid-body never moves
* unless it is moved manually by the user.
*
* @param f - The function to apply to each active rigid-body managed by this physics world. Called as `f(collider)`.
*/
forEachActiveRigidBody(f: (body: RigidBody) => void): void;
/**
* Find the closest intersection between a ray and the physics world.
*
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
* @param filter - The callback to filter out which collider will be hit.
*/
castRay(ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): RayColliderToi | null;
/**
* Find the closest intersection between a ray and the physics world.
*
* This also computes the normal at the hit point.
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
*/
castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): RayColliderIntersection | null;
/**
* Cast a ray and collects all the intersections between a ray and the scene.
*
* @param ray - The ray to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the length of the ray to `ray.dir.norm() * maxToi`.
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
* whereas `false` implies that all shapes are hollow for this ray-cast.
* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
* @param callback - The callback called once per hit (in no particular order) between a ray and a collider.
* If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.
*/
intersectionsWithRay(ray: Ray, maxToi: number, solid: boolean, callback: (intersect: RayColliderIntersection) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): void;
/**
* Gets the handle of up to one collider intersecting the given shape.
*
* @param shapePos - The position of the shape used for the intersection test.
* @param shapeRot - The orientation of the shape used for the intersection test.
* @param shape - The shape used for the intersection test.
* @param groups - The bit groups and filter associated to the ray, in order to only
* hit the colliders with collision groups compatible with the ray's group.
*/
intersectionWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): Collider | null;
/**
* Find the projection of a point on the closest collider.
*
* @param point - The point to project.
* @param solid - If this is set to `true` then the collider shapes are considered to
* be plain (if the point is located inside of a plain shape, its projection is the point
* itself). If it is set to `false` the collider shapes are considered to be hollow
* (if the point is located inside of an hollow shape, it is projected on the shape's
* boundary).
* @param groups - The bit groups and filter associated to the point to project, in order to only
* project on colliders with collision groups compatible with the ray's group.
*/
projectPoint(point: Vector, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): PointColliderProjection | null;
/**
* Find the projection of a point on the closest collider.
*
* @param point - The point to project.
* @param groups - The bit groups and filter associated to the point to project, in order to only
* project on colliders with collision groups compatible with the ray's group.
*/
projectPointAndGetFeature(point: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): PointColliderProjection | null;
/**
* Find all the colliders containing the given point.
*
* @param point - The point used for the containment test.
* @param groups - The bit groups and filter associated to the point to test, in order to only
* test on colliders with collision groups compatible with the ray's group.
* @param callback - A function called with the handles of each collider with a shape
* containing the `point`.
*/
intersectionsWithPoint(point: Vector, callback: (handle: Collider) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): void;
/**
* Casts a shape at a constant linear velocity and retrieve the first collider it hits.
* This is similar to ray-casting except that we are casting a whole shape instead of
* just a point (the ray origin).
*
* @param shapePos - The initial position of the shape to cast.
* @param shapeRot - The initial rotation of the shape to cast.
* @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
* @param shape - The shape to cast.
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
* limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
* the shape is penetrating another shape at its starting point **and** its trajectory is such
* that it’s on a path to exist that penetration state.
* @param groups - The bit groups and filter associated to the shape to cast, in order to only
* test on colliders with collision groups compatible with this group.
*/
castShape(shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, stopAtPenetration: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): ShapeColliderTOI | null;
/**
* Retrieve all the colliders intersecting the given shape.
*
* @param shapePos - The position of the shape to test.
* @param shapeRot - The orientation of the shape to test.
* @param shape - The shape to test.
* @param groups - The bit groups and filter associated to the shape to test, in order to only
* test on colliders with collision groups compatible with this group.
* @param callback - A function called with the handles of each collider intersecting the `shape`.
*/
intersectionsWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, callback: (collider: Collider) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): void;
/**
* Finds the handles of all the colliders with an AABB intersecting the given AABB.
*
* @param aabbCenter - The center of the AABB to test.
* @param aabbHalfExtents - The half-extents of the AABB to test.
* @param callback - The callback that will be called with the handles of all the colliders
* currently intersecting the given AABB.
*/
collidersWithAabbIntersectingAabb(aabbCenter: Vector, aabbHalfExtents: Vector, callback: (handle: Collider) => boolean): void;
/**
* Enumerates all the colliders potentially in contact with the given collider.
*
* @param collider1 - The second collider involved in the contact.
* @param f - Closure that will be called on each collider that is in contact with `collider1`.
*/
contactPairsWith(collider1: Collider, f: (collider2: Collider) => void): void;
/**
* Enumerates all the colliders intersecting the given colliders, assuming one of them
* is a sensor.
*/
intersectionPairsWith(collider1: Collider, f: (collider2: Collider) => void): void;
/**
* Iterates through all the contact manifolds between the given pair of colliders.
*
* @param collider1 - The first collider involved in the contact.
* @param collider2 - The second collider involved in the contact.
* @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument
* passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1`
* actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`.
*/
contactPair(collider1: Collider, collider2: Collider, f: (manifold: TempContactManifold, flipped: boolean) => void): void;
/**
* Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor.
* @param collider1 − The first collider involved in the intersection.
* @param collider2 − The second collider involved in the intersection.
*/
intersectionPair(collider1: Collider, collider2: Collider): boolean;
}