chore: 添加第三方依赖库

thirdparty/rapier.js/src.ts/control/ray_cast_vehicle_controller.ts

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+import {RawDynamicRayCastVehicleController} from "../raw";
+import {Vector, VectorOps} from "../math";
+import {
+    BroadPhase,
+    Collider,
+    ColliderSet,
+    InteractionGroups,
+    NarrowPhase,
+} from "../geometry";
+import {QueryFilterFlags} from "../pipeline";
+import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics";
+
+/**
+ * A character controller to simulate vehicles using ray-casting for the wheels.
+ */
+export class DynamicRayCastVehicleController {
+    private raw: RawDynamicRayCastVehicleController;
+    private broadPhase: BroadPhase;
+    private narrowPhase: NarrowPhase;
+    private bodies: RigidBodySet;
+    private colliders: ColliderSet;
+    private _chassis: RigidBody;
+
+    constructor(
+        chassis: RigidBody,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+    ) {
+        this.raw = new RawDynamicRayCastVehicleController(chassis.handle);
+        this.broadPhase = broadPhase;
+        this.narrowPhase = narrowPhase;
+        this.bodies = bodies;
+        this.colliders = colliders;
+        this._chassis = chassis;
+    }
+
+    /** @internal */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+
+        this.raw = undefined;
+    }
+
+    /**
+     * Updates the vehicle’s velocity based on its suspension, engine force, and brake.
+     *
+     * This directly updates the velocity of its chassis rigid-body.
+     *
+     * @param dt - Time increment used to integrate forces.
+     * @param filterFlags - Flag to exclude categories of objects from the wheels’ ray-cast.
+     * @param filterGroups - Only colliders compatible with these groups will be hit by the wheels’ ray-casts.
+     * @param filterPredicate - Callback to filter out which collider will be hit by the wheels’ ray-casts.
+     */
+    public updateVehicle(
+        dt: number,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.raw.update_vehicle(
+            dt,
+            this.broadPhase.raw,
+            this.narrowPhase.raw,
+            this.bodies.raw,
+            this.colliders.raw,
+            filterFlags,
+            filterGroups,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * The current forward speed of the vehicle.
+     */
+    public currentVehicleSpeed(): number {
+        return this.raw.current_vehicle_speed();
+    }
+
+    /**
+     * The rigid-body used as the chassis.
+     */
+    public chassis(): RigidBody {
+        return this._chassis;
+    }
+
+    /**
+     * The chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    get indexUpAxis(): number {
+        return this.raw.index_up_axis();
+    }
+
+    /**
+     * Sets the chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    set indexUpAxis(axis: number) {
+        this.raw.set_index_up_axis(axis);
+    }
+
+    /**
+     * The chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    get indexForwardAxis(): number {
+        return this.raw.index_forward_axis();
+    }
+
+    /**
+     * Sets the chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    set setIndexForwardAxis(axis: number) {
+        this.raw.set_index_forward_axis(axis);
+    }
+
+    /**
+     * Adds a new wheel attached to this vehicle.
+     * @param chassisConnectionCs  - The position of the wheel relative to the chassis.
+     * @param directionCs - The direction of the wheel’s suspension, relative to the chassis. The ray-casting will
+     *                      happen following this direction to detect the ground.
+     * @param axleCs - The wheel’s axle axis, relative to the chassis.
+     * @param suspensionRestLength - The rest length of the wheel’s suspension spring.
+     * @param radius - The wheel’s radius.
+     */
+    public addWheel(
+        chassisConnectionCs: Vector,
+        directionCs: Vector,
+        axleCs: Vector,
+        suspensionRestLength: number,
+        radius: number,
+    ) {
+        let rawChassisConnectionCs = VectorOps.intoRaw(chassisConnectionCs);
+        let rawDirectionCs = VectorOps.intoRaw(directionCs);
+        let rawAxleCs = VectorOps.intoRaw(axleCs);
+
+        this.raw.add_wheel(
+            rawChassisConnectionCs,
+            rawDirectionCs,
+            rawAxleCs,
+            suspensionRestLength,
+            radius,
+        );
+
+        rawChassisConnectionCs.free();
+        rawDirectionCs.free();
+        rawAxleCs.free();
+    }
+
+    /**
+     * The number of wheels attached to this vehicle.
+     */
+    public numWheels(): number {
+        return this.raw.num_wheels();
+    }
+
+    /*
+     *
+     * Access to wheel properties.
+     *
+     */
+    /*
+     * Getters + setters
+     */
+    /**
+     * The position of the i-th wheel, relative to the chassis.
+     */
+    public wheelChassisConnectionPointCs(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i));
+    }
+
+    /**
+     * Sets the position of the i-th wheel, relative to the chassis.
+     */
+    public setWheelChassisConnectionPointCs(i: number, value: Vector) {
+        let rawValue = VectorOps.intoRaw(value);
+        this.raw.set_wheel_chassis_connection_point_cs(i, rawValue);
+        rawValue.free();
+    }
+
+    /**
+     * The rest length of the i-th wheel’s suspension spring.
+     */
+    public wheelSuspensionRestLength(i: number): number | null {
+        return this.raw.wheel_suspension_rest_length(i);
+    }
+
+    /**
+     * Sets the rest length of the i-th wheel’s suspension spring.
+     */
+    public setWheelSuspensionRestLength(i: number, value: number) {
+        this.raw.set_wheel_suspension_rest_length(i, value);
+    }
+
+    /**
+     * The maximum distance the i-th wheel suspension can travel before and after its resting length.
+     */
+    public wheelMaxSuspensionTravel(i: number): number | null {
+        return this.raw.wheel_max_suspension_travel(i);
+    }
+
+    /**
+     * Sets the maximum distance the i-th wheel suspension can travel before and after its resting length.
+     */
+    public setWheelMaxSuspensionTravel(i: number, value: number) {
+        this.raw.set_wheel_max_suspension_travel(i, value);
+    }
+
+    /**
+     * The i-th wheel’s radius.
+     */
+    public wheelRadius(i: number): number | null {
+        return this.raw.wheel_radius(i);
+    }
+
+    /**
+     * Sets the i-th wheel’s radius.
+     */
+    public setWheelRadius(i: number, value: number) {
+        this.raw.set_wheel_radius(i, value);
+    }
+
+    /**
+     * The i-th wheel’s suspension stiffness.
+     *
+     * Increase this value if the suspension appears to not push the vehicle strong enough.
+     */
+    public wheelSuspensionStiffness(i: number): number | null {
+        return this.raw.wheel_suspension_stiffness(i);
+    }
+
+    /**
+     * Sets the i-th wheel’s suspension stiffness.
+     *
+     * Increase this value if the suspension appears to not push the vehicle strong enough.
+     */
+    public setWheelSuspensionStiffness(i: number, value: number) {
+        this.raw.set_wheel_suspension_stiffness(i, value);
+    }
+
+    /**
+     * The i-th wheel’s suspension’s damping when it is being compressed.
+     */
+    public wheelSuspensionCompression(i: number): number | null {
+        return this.raw.wheel_suspension_compression(i);
+    }
+
+    /**
+     * The i-th wheel’s suspension’s damping when it is being compressed.
+     */
+    public setWheelSuspensionCompression(i: number, value: number) {
+        this.raw.set_wheel_suspension_compression(i, value);
+    }
+
+    /**
+     * The i-th wheel’s suspension’s damping when it is being released.
+     *
+     * Increase this value if the suspension appears to overshoot.
+     */
+    public wheelSuspensionRelaxation(i: number): number | null {
+        return this.raw.wheel_suspension_relaxation(i);
+    }
+
+    /**
+     * Sets the i-th wheel’s suspension’s damping when it is being released.
+     *
+     * Increase this value if the suspension appears to overshoot.
+     */
+    public setWheelSuspensionRelaxation(i: number, value: number) {
+        this.raw.set_wheel_suspension_relaxation(i, value);
+    }
+
+    /**
+     * The maximum force applied by the i-th wheel’s suspension.
+     */
+    public wheelMaxSuspensionForce(i: number): number | null {
+        return this.raw.wheel_max_suspension_force(i);
+    }
+
+    /**
+     * Sets the maximum force applied by the i-th wheel’s suspension.
+     */
+    public setWheelMaxSuspensionForce(i: number, value: number) {
+        this.raw.set_wheel_max_suspension_force(i, value);
+    }
+
+    /**
+     * The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
+     */
+    public wheelBrake(i: number): number | null {
+        return this.raw.wheel_brake(i);
+    }
+
+    /**
+     * Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
+     */
+    public setWheelBrake(i: number, value: number) {
+        this.raw.set_wheel_brake(i, value);
+    }
+
+    /**
+     * The steering angle (radians) for the i-th wheel.
+     */
+    public wheelSteering(i: number): number | null {
+        return this.raw.wheel_steering(i);
+    }
+
+    /**
+     * Sets the steering angle (radians) for the i-th wheel.
+     */
+    public setWheelSteering(i: number, value: number) {
+        this.raw.set_wheel_steering(i, value);
+    }
+
+    /**
+     * The forward force applied by the i-th wheel on the chassis.
+     */
+    public wheelEngineForce(i: number): number | null {
+        return this.raw.wheel_engine_force(i);
+    }
+
+    /**
+     * Sets the forward force applied by the i-th wheel on the chassis.
+     */
+    public setWheelEngineForce(i: number, value: number) {
+        this.raw.set_wheel_engine_force(i, value);
+    }
+
+    /**
+     * The direction of the i-th wheel’s suspension, relative to the chassis.
+     *
+     * The ray-casting will happen following this direction to detect the ground.
+     */
+    public wheelDirectionCs(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_direction_cs(i));
+    }
+
+    /**
+     * Sets the direction of the i-th wheel’s suspension, relative to the chassis.
+     *
+     * The ray-casting will happen following this direction to detect the ground.
+     */
+    public setWheelDirectionCs(i: number, value: Vector) {
+        let rawValue = VectorOps.intoRaw(value);
+        this.raw.set_wheel_direction_cs(i, rawValue);
+        rawValue.free();
+    }
+
+    /**
+     * The i-th wheel’s axle axis, relative to the chassis.
+     *
+     * The axis index defined as 0 = X, 1 = Y, 2 = Z.
+     */
+    public wheelAxleCs(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_axle_cs(i));
+    }
+
+    /**
+     * Sets the i-th wheel’s axle axis, relative to the chassis.
+     *
+     * The axis index defined as 0 = X, 1 = Y, 2 = Z.
+     */
+    public setWheelAxleCs(i: number, value: Vector) {
+        let rawValue = VectorOps.intoRaw(value);
+        this.raw.set_wheel_axle_cs(i, rawValue);
+        rawValue.free();
+    }
+
+    /**
+     * Parameter controlling how much traction the tire has.
+     *
+     * The larger the value, the more instantaneous braking will happen (with the risk of
+     * causing the vehicle to flip if it’s too strong).
+     */
+    public wheelFrictionSlip(i: number): number | null {
+        return this.raw.wheel_friction_slip(i);
+    }
+
+    /**
+     * Sets the parameter controlling how much traction the tire has.
+     *
+     * The larger the value, the more instantaneous braking will happen (with the risk of
+     * causing the vehicle to flip if it’s too strong).
+     */
+    public setWheelFrictionSlip(i: number, value: number) {
+        this.raw.set_wheel_friction_slip(i, value);
+    }
+
+    /**
+     * The multiplier of friction between a tire and the collider it’s on top of.
+     *
+     * The larger the value, the stronger side friction will be.
+     */
+    public wheelSideFrictionStiffness(i: number): number | null {
+        return this.raw.wheel_side_friction_stiffness(i);
+    }
+
+    /**
+     * The multiplier of friction between a tire and the collider it’s on top of.
+     *
+     * The larger the value, the stronger side friction will be.
+     */
+    public setWheelSideFrictionStiffness(i: number, value: number) {
+        this.raw.set_wheel_side_friction_stiffness(i, value);
+    }
+
+    /*
+     * Getters only.
+     */
+
+    /**
+     *  The i-th wheel’s current rotation angle (radians) on its axle.
+     */
+    public wheelRotation(i: number): number | null {
+        return this.raw.wheel_rotation(i);
+    }
+
+    /**
+     *  The forward impulses applied by the i-th wheel on the chassis.
+     */
+    public wheelForwardImpulse(i: number): number | null {
+        return this.raw.wheel_forward_impulse(i);
+    }
+
+    /**
+     *  The side impulses applied by the i-th wheel on the chassis.
+     */
+    public wheelSideImpulse(i: number): number | null {
+        return this.raw.wheel_side_impulse(i);
+    }
+
+    /**
+     *  The force applied by the i-th wheel suspension.
+     */
+    public wheelSuspensionForce(i: number): number | null {
+        return this.raw.wheel_suspension_force(i);
+    }
+
+    /**
+     *  The (world-space) contact normal between the i-th wheel and the floor.
+     */
+    public wheelContactNormal(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i));
+    }
+
+    /**
+     *  The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.
+     */
+    public wheelContactPoint(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i));
+    }
+
+    /**
+     *  The suspension length for the i-th wheel.
+     */
+    public wheelSuspensionLength(i: number): number | null {
+        return this.raw.wheel_suspension_length(i);
+    }
+
+    /**
+     *  The (world-space) starting point of the ray-cast for the i-th wheel.
+     */
+    public wheelHardPoint(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i));
+    }
+
+    /**
+     *  Is the i-th wheel in contact with the ground?
+     */
+    public wheelIsInContact(i: number): boolean {
+        return this.raw.wheel_is_in_contact(i);
+    }
+
+    /**
+     *  The collider hit by the ray-cast for the i-th wheel.
+     */
+    public wheelGroundObject(i: number): Collider | null {
+        return this.colliders.get(this.raw.wheel_ground_object(i));
+    }
+}