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Azeem Fidahusein
2025-07-28 22:43:55 +01:00
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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;
}