chore: 添加第三方依赖库

thirdparty/rapier.js/src.ts/pipeline/debug_render_pipeline.ts

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+import {RawDebugRenderPipeline} from "../raw";
+import {Vector, VectorOps} from "../math";
+import {
+    IntegrationParameters,
+    IslandManager,
+    ImpulseJointSet,
+    MultibodyJointSet,
+    RigidBodySet,
+} from "../dynamics";
+import {BroadPhase, Collider, ColliderSet, NarrowPhase} from "../geometry";
+import {QueryFilterFlags} from "./query_pipeline";
+
+/**
+ * The vertex and color buffers for debug-redering the physics scene.
+ */
+export 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]]`.
+     */
+    public vertices: Float32Array;
+    /**
+     * The color buffer. There is one color per vertex, and each color
+     * has four consecutive components (in RGBA format).
+     */
+    public colors: Float32Array;
+
+    constructor(vertices: Float32Array, colors: Float32Array) {
+        this.vertices = vertices;
+        this.colors = colors;
+    }
+}
+
+/**
+ * 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 class DebugRenderPipeline {
+    raw: RawDebugRenderPipeline;
+    public vertices: Float32Array;
+    public colors: Float32Array;
+
+    /**
+     * Release the WASM memory occupied by this serialization pipeline.
+     */
+    free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+        this.vertices = undefined;
+        this.colors = undefined;
+    }
+
+    constructor(raw?: RawDebugRenderPipeline) {
+        this.raw = raw || new RawDebugRenderPipeline();
+    }
+
+    public render(
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        impulse_joints: ImpulseJointSet,
+        multibody_joints: MultibodyJointSet,
+        narrow_phase: NarrowPhase,
+        filterFlags?: QueryFilterFlags,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.raw.render(
+            bodies.raw,
+            colliders.raw,
+            impulse_joints.raw,
+            multibody_joints.raw,
+            narrow_phase.raw,
+            filterFlags,
+            colliders.castClosure(filterPredicate),
+        );
+        this.vertices = this.raw.vertices();
+        this.colors = this.raw.colors();
+    }
+}