chore: 添加第三方依赖库
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yhh
238
thirdparty/rapier.js/src.ts/dynamics/rigid_body_set.ts
vendored
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238
thirdparty/rapier.js/src.ts/dynamics/rigid_body_set.ts
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import {RawRigidBodySet, RawRigidBodyType} from "../raw";
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import {Coarena} from "../coarena";
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import {VectorOps, RotationOps} from "../math";
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import {
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RigidBody,
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RigidBodyDesc,
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RigidBodyHandle,
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RigidBodyType,
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} from "./rigid_body";
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import {ColliderSet} from "../geometry";
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import {ImpulseJointSet} from "./impulse_joint_set";
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import {MultibodyJointSet} from "./multibody_joint_set";
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import {IslandManager} from "./island_manager";
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/**
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* A set of rigid bodies that can be handled by a physics pipeline.
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*
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* To avoid leaking WASM resources, this MUST be freed manually with `rigidBodySet.free()`
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* once you are done using it (and all the rigid-bodies it created).
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*/
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export class RigidBodySet {
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raw: RawRigidBodySet;
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private map: Coarena<RigidBody>;
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/**
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* Release the WASM memory occupied by this rigid-body set.
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*/
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public free() {
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if (!!this.raw) {
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this.raw.free();
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}
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this.raw = undefined;
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if (!!this.map) {
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this.map.clear();
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}
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this.map = undefined;
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}
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constructor(raw?: RawRigidBodySet) {
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this.raw = raw || new RawRigidBodySet();
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this.map = new Coarena<RigidBody>();
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// deserialize
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if (raw) {
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raw.forEachRigidBodyHandle((handle: RigidBodyHandle) => {
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this.map.set(handle, new RigidBody(raw, null, handle));
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});
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}
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}
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/**
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* Internal method, do not call this explicitly.
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*/
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public finalizeDeserialization(colliderSet: ColliderSet) {
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this.map.forEach((rb) => rb.finalizeDeserialization(colliderSet));
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}
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/**
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* Creates a new rigid-body and return its integer handle.
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*
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* @param desc - The description of the rigid-body to create.
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*/
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public createRigidBody(
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colliderSet: ColliderSet,
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desc: RigidBodyDesc,
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): RigidBody {
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let rawTra = VectorOps.intoRaw(desc.translation);
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let rawRot = RotationOps.intoRaw(desc.rotation);
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let rawLv = VectorOps.intoRaw(desc.linvel);
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let rawCom = VectorOps.intoRaw(desc.centerOfMass);
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// #if DIM3
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let rawAv = VectorOps.intoRaw(desc.angvel);
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let rawPrincipalInertia = VectorOps.intoRaw(
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desc.principalAngularInertia,
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);
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let rawInertiaFrame = RotationOps.intoRaw(
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desc.angularInertiaLocalFrame,
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);
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// #endif
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let handle = this.raw.createRigidBody(
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desc.enabled,
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rawTra,
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rawRot,
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desc.gravityScale,
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desc.mass,
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desc.massOnly,
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rawCom,
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rawLv,
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// #if DIM2
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desc.angvel,
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desc.principalAngularInertia,
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desc.translationsEnabledX,
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desc.translationsEnabledY,
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desc.rotationsEnabled,
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// #endif
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// #if DIM3
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rawAv,
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rawPrincipalInertia,
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rawInertiaFrame,
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desc.translationsEnabledX,
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desc.translationsEnabledY,
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desc.translationsEnabledZ,
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desc.rotationsEnabledX,
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desc.rotationsEnabledY,
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desc.rotationsEnabledZ,
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// #endif
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desc.linearDamping,
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desc.angularDamping,
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desc.status as number as RawRigidBodyType,
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desc.canSleep,
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desc.sleeping,
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desc.softCcdPrediction,
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desc.ccdEnabled,
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desc.dominanceGroup,
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desc.additionalSolverIterations,
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);
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rawTra.free();
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rawRot.free();
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rawLv.free();
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rawCom.free();
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// #if DIM3
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rawAv.free();
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rawPrincipalInertia.free();
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rawInertiaFrame.free();
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// #endif
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const body = new RigidBody(this.raw, colliderSet, handle);
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body.userData = desc.userData;
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this.map.set(handle, body);
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return body;
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}
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/**
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* Removes a rigid-body from this set.
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*
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* This will also remove all the colliders and joints attached to the rigid-body.
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*
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* @param handle - The integer handle of the rigid-body to remove.
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* @param colliders - The set of colliders that may contain colliders attached to the removed rigid-body.
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* @param impulseJoints - The set of impulse joints that may contain joints attached to the removed rigid-body.
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* @param multibodyJoints - The set of multibody joints that may contain joints attached to the removed rigid-body.
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*/
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public remove(
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handle: RigidBodyHandle,
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islands: IslandManager,
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colliders: ColliderSet,
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impulseJoints: ImpulseJointSet,
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multibodyJoints: MultibodyJointSet,
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) {
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// Unmap the entities that will be removed automatically because of the rigid-body removals.
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for (let i = 0; i < this.raw.rbNumColliders(handle); i += 1) {
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colliders.unmap(this.raw.rbCollider(handle, i));
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}
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impulseJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) =>
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impulseJoints.unmap(handle),
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);
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multibodyJoints.forEachJointHandleAttachedToRigidBody(
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handle,
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(handle) => multibodyJoints.unmap(handle),
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);
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// Remove the rigid-body.
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this.raw.remove(
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handle,
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islands.raw,
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colliders.raw,
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impulseJoints.raw,
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multibodyJoints.raw,
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);
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this.map.delete(handle);
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}
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/**
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* The number of rigid-bodies on this set.
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*/
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public len(): number {
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return this.map.len();
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}
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/**
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* Does this set contain a rigid-body with the given handle?
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*
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* @param handle - The rigid-body handle to check.
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*/
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public contains(handle: RigidBodyHandle): boolean {
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return this.get(handle) != null;
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}
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/**
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* Gets the rigid-body with the given handle.
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*
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* @param handle - The handle of the rigid-body to retrieve.
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*/
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public get(handle: RigidBodyHandle): RigidBody | null {
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return this.map.get(handle);
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}
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/**
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* Applies the given closure to each rigid-body contained by this set.
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*
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* @param f - The closure to apply.
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*/
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public forEach(f: (body: RigidBody) => void) {
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this.map.forEach(f);
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}
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/**
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* Applies the given closure to each active rigid-bodies contained by this set.
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*
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* A rigid-body is active if it is not sleeping, i.e., if it moved recently.
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*
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* @param f - The closure to apply.
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*/
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public forEachActiveRigidBody(
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islands: IslandManager,
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f: (body: RigidBody) => void,
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) {
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islands.forEachActiveRigidBodyHandle((handle) => {
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f(this.get(handle));
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});
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}
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/**
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* Gets all rigid-bodies in the list.
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*
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* @returns rigid-bodies list.
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*/
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public getAll(): RigidBody[] {
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return this.map.getAll();
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}
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}
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