chore: 添加第三方依赖库

thirdparty/rapier.js/src.ts/dynamics/multibody_joint_set.ts

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+import {RawMultibodyJointSet} from "../raw";
+import {Coarena} from "../coarena";
+import {RigidBodySet} from "./rigid_body_set";
+import {
+    MultibodyJoint,
+    MultibodyJointHandle,
+    RevoluteMultibodyJoint,
+    FixedMultibodyJoint,
+    PrismaticMultibodyJoint,
+    // #if DIM3
+    SphericalMultibodyJoint,
+    // #endif
+} from "./multibody_joint";
+import {ImpulseJointHandle, JointData, JointType} from "./impulse_joint";
+import {IslandManager} from "./island_manager";
+import {ColliderHandle} from "../geometry";
+import {RigidBodyHandle} from "./rigid_body";
+
+/**
+ * A set of joints.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`
+ * once you are done using it (and all the joints it created).
+ */
+export class MultibodyJointSet {
+    raw: RawMultibodyJointSet;
+    private map: Coarena<MultibodyJoint>;
+
+    /**
+     * Release the WASM memory occupied by this joint set.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+
+        if (!!this.map) {
+            this.map.clear();
+        }
+        this.map = undefined;
+    }
+
+    constructor(raw?: RawMultibodyJointSet) {
+        this.raw = raw || new RawMultibodyJointSet();
+        this.map = new Coarena<MultibodyJoint>();
+        // Initialize the map with the existing elements, if any.
+        if (raw) {
+            raw.forEachJointHandle((handle: MultibodyJointHandle) => {
+                this.map.set(handle, MultibodyJoint.newTyped(this.raw, handle));
+            });
+        }
+    }
+
+    /**
+     * Creates a new joint and return its integer handle.
+     *
+     * @param desc - The joint's parameters.
+     * @param parent1 - The handle of the first rigid-body this joint is attached to.
+     * @param parent2 - The handle of the second rigid-body this joint is attached to.
+     * @param wakeUp - Should the attached rigid-bodies be awakened?
+     */
+    public createJoint(
+        desc: JointData,
+        parent1: RigidBodyHandle,
+        parent2: RigidBodyHandle,
+        wakeUp: boolean,
+    ): MultibodyJoint {
+        const rawParams = desc.intoRaw();
+        const handle = this.raw.createJoint(
+            rawParams,
+            parent1,
+            parent2,
+            wakeUp,
+        );
+        rawParams.free();
+        let joint = MultibodyJoint.newTyped(this.raw, handle);
+        this.map.set(handle, joint);
+        return joint;
+    }
+
+    /**
+     * Remove a joint from this set.
+     *
+     * @param handle - The integer handle of the joint.
+     * @param wake_up - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
+     */
+    public remove(handle: MultibodyJointHandle, wake_up: boolean) {
+        this.raw.remove(handle, wake_up);
+        this.map.delete(handle);
+    }
+
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    public unmap(handle: MultibodyJointHandle) {
+        this.map.delete(handle);
+    }
+
+    /**
+     * The number of joints on this set.
+     */
+    public len(): number {
+        return this.map.len();
+    }
+
+    /**
+     * Does this set contain a joint with the given handle?
+     *
+     * @param handle - The joint handle to check.
+     */
+    public contains(handle: MultibodyJointHandle): boolean {
+        return this.get(handle) != null;
+    }
+
+    /**
+     * Gets the joint with the given handle.
+     *
+     * Returns `null` if no joint with the specified handle exists.
+     *
+     * @param handle - The integer handle of the joint to retrieve.
+     */
+    public get(handle: MultibodyJointHandle): MultibodyJoint | null {
+        return this.map.get(handle);
+    }
+
+    /**
+     * Applies the given closure to each joint contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEach(f: (joint: MultibodyJoint) => void) {
+        this.map.forEach(f);
+    }
+
+    /**
+     * Calls the given closure with the integer handle of each multibody joint attached to this rigid-body.
+     *
+     * @param f - The closure called with the integer handle of each multibody joint attached to the rigid-body.
+     */
+    public forEachJointHandleAttachedToRigidBody(
+        handle: RigidBodyHandle,
+        f: (handle: MultibodyJointHandle) => void,
+    ) {
+        this.raw.forEachJointAttachedToRigidBody(handle, f);
+    }
+
+    /**
+     * Gets all joints in the list.
+     *
+     * @returns joint list.
+     */
+    public getAll(): MultibodyJoint[] {
+        return this.map.getAll();
+    }
+}