Upgrade JoltPhysics.JS to v0.31.0 (#1119)

* Upgrade to JoltPhysics 0.31.0

* chore: Format

fission/package.json

@@ -21,7 +21,7 @@
     "playwright:install": "bun x playwright install || npx playwright install"
   },
   "dependencies": {
-    "@barclah/jolt-physics": "^0.24.1",
+    "@barclah/jolt-physics": "^0.31.0",
     "@haensl/google-analytics": "^1.2.0",
     "@mui/base": "^5.0.0-beta.40",
     "@mui/icons-material": "^5.15.20",

fission/src/mirabuf/EjectableSceneObject.ts

@@ -7,6 +7,7 @@ import {
     JoltMat44_ThreeMatrix4,
     JoltQuat_ThreeQuaternion,
     ThreeQuaternion_JoltQuat,
+    ThreeVector3_JoltRVec3,
     ThreeVector3_JoltVec3,
 } from "@/util/TypeConversions"
 import * as THREE from "three"
@@ -88,7 +89,7 @@ class EjectableSceneObject extends SceneObject {
             const rotation = new THREE.Quaternion(0, 0, 0, 1)
             bodyTransform.decompose(position, rotation, new THREE.Vector3(1, 1, 1))
 
-            World.PhysicsSystem.SetBodyPosition(this._gamePieceBodyId, ThreeVector3_JoltVec3(position), false)
+            World.PhysicsSystem.SetBodyPosition(this._gamePieceBodyId, ThreeVector3_JoltRVec3(position), false)
             World.PhysicsSystem.SetBodyRotation(this._gamePieceBodyId, ThreeQuaternion_JoltQuat(rotation), false)
         }
     }

fission/src/mirabuf/IntakeSensorSceneObject.ts

@@ -8,7 +8,7 @@ import {
     Array_ThreeMatrix4,
     JoltMat44_ThreeMatrix4,
     ThreeQuaternion_JoltQuat,
-    ThreeVector3_JoltVec3,
+    ThreeVector3_JoltRVec3,
 } from "@/util/TypeConversions"
 import { OnContactPersistedEvent } from "@/systems/physics/ContactEvents"
 
@@ -70,7 +70,7 @@ class IntakeSensorSceneObject extends SceneObject {
             const rotation = new THREE.Quaternion(0, 0, 0, 1)
             bodyTransform.decompose(position, rotation, new THREE.Vector3(1, 1, 1))
 
-            World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(position))
+            World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltRVec3(position))
             World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(rotation))
         }
     }

fission/src/mirabuf/ScoringZoneSceneObject.ts

@@ -2,7 +2,7 @@ import {
     Array_ThreeMatrix4,
     JoltMat44_ThreeMatrix4,
     ThreeQuaternion_JoltQuat,
-    ThreeVector3_JoltVec3,
+    ThreeVector3_JoltRVec3,
 } from "@/util/TypeConversions"
 import MirabufSceneObject, { RigidNodeAssociate } from "./MirabufSceneObject"
 import JOLT from "@/util/loading/JoltSyncLoader"
@@ -84,7 +84,7 @@ class ScoringZoneSceneObject extends SceneObject {
                 )
                 const props = DeltaFieldTransforms_PhysicalProp(this._deltaTransformation, fieldTransformation)
 
-                World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(props.translation))
+                World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltRVec3(props.translation))
                 World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(props.rotation))
                 const shapeSettings = new JOLT.BoxShapeSettings(
                     new JOLT.Vec3(props.scale.x / 2, props.scale.y / 2, props.scale.z / 2)
@@ -148,7 +148,7 @@ class ScoringZoneSceneObject extends SceneObject {
             )
             const props = DeltaFieldTransforms_PhysicalProp(this._deltaTransformation, fieldTransformation)
 
-            World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(props.translation))
+            World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltRVec3(props.translation))
             World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(props.rotation))
             const shapeSettings = new JOLT.BoxShapeSettings(
                 new JOLT.Vec3(props.scale.x / 2, props.scale.y / 2, props.scale.z / 2)

fission/src/systems/physics/PhysicsSystem.ts

@@ -1,9 +1,13 @@
 import {
+    JoltRVec3_JoltVec3,
+    JoltVec3_JoltRVec3,
     JoltVec3_ThreeVector3,
     MirabufFloatArr_JoltFloat3,
     MirabufFloatArr_JoltVec3,
+    MirabufVector3_JoltRVec3,
     MirabufVector3_JoltVec3,
     ThreeMatrix4_JoltMat44,
+    ThreeVector3_JoltRVec3,
     ThreeVector3_JoltVec3,
     _JoltQuat,
 } from "../../util/TypeConversions"
@@ -234,7 +238,7 @@ class PhysicsSystem extends WorldSystem {
         const shape = new JOLT.BoxShape(size, 0.1)
         JOLT.destroy(size)
 
-        const pos = position ? ThreeVector3_JoltVec3(position) : new JOLT.Vec3(0.0, 0.0, 0.0)
+        const pos = position ? ThreeVector3_JoltRVec3(position) : new JOLT.RVec3(0.0, 0.0, 0.0)
         const rot = _JoltQuat(rotation)
         const creationSettings = new JOLT.BodyCreationSettings(
             shape,
@@ -269,7 +273,7 @@ class PhysicsSystem extends WorldSystem {
         position: THREE.Vector3 | undefined,
         rotation: THREE.Euler | THREE.Quaternion | undefined
     ) {
-        const pos = position ? ThreeVector3_JoltVec3(position) : new JOLT.Vec3(0.0, 0.0, 0.0)
+        const pos = position ? ThreeVector3_JoltRVec3(position) : new JOLT.RVec3(0.0, 0.0, 0.0)
         const rot = _JoltQuat(rotation)
         const creationSettings = new JOLT.BodyCreationSettings(
             shape,
@@ -464,14 +468,14 @@ class PhysicsSystem extends WorldSystem {
         const hingeConstraintSettings = new JOLT.HingeConstraintSettings()
 
         const jointOrigin = jointDefinition.origin
-            ? MirabufVector3_JoltVec3(jointDefinition.origin as mirabuf.Vector3)
-            : new JOLT.Vec3(0, 0, 0)
+            ? MirabufVector3_JoltRVec3(jointDefinition.origin as mirabuf.Vector3)
+            : new JOLT.RVec3(0, 0, 0)
         // TODO: Offset transformation for robot builder.
         const jointOriginOffset = jointInstance.offset
-            ? MirabufVector3_JoltVec3(jointInstance.offset as mirabuf.Vector3)
-            : new JOLT.Vec3(0, 0, 0)
+            ? MirabufVector3_JoltRVec3(jointInstance.offset as mirabuf.Vector3)
+            : new JOLT.RVec3(0, 0, 0)
 
-        const anchorPoint = jointOrigin.Add(jointOriginOffset)
+        const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
         hingeConstraintSettings.mPoint1 = hingeConstraintSettings.mPoint2 = anchorPoint
 
         const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
@@ -532,14 +536,14 @@ class PhysicsSystem extends WorldSystem {
         const sliderConstraintSettings = new JOLT.SliderConstraintSettings()
 
         const jointOrigin = jointDefinition.origin
-            ? MirabufVector3_JoltVec3(jointDefinition.origin as mirabuf.Vector3)
-            : new JOLT.Vec3(0, 0, 0)
+            ? MirabufVector3_JoltRVec3(jointDefinition.origin as mirabuf.Vector3)
+            : new JOLT.RVec3(0, 0, 0)
         // TODO: Offset transformation for robot builder.
         const jointOriginOffset = jointInstance.offset
-            ? MirabufVector3_JoltVec3(jointInstance.offset as mirabuf.Vector3)
-            : new JOLT.Vec3(0, 0, 0)
+            ? MirabufVector3_JoltRVec3(jointInstance.offset as mirabuf.Vector3)
+            : new JOLT.RVec3(0, 0, 0)
 
-        const anchorPoint = jointOrigin.Add(jointOriginOffset)
+        const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
         sliderConstraintSettings.mPoint1 = sliderConstraintSettings.mPoint2 = anchorPoint
 
         const prismaticFreedom = jointDefinition.prismatic!.prismaticFreedom!
@@ -594,27 +598,27 @@ class PhysicsSystem extends WorldSystem {
         const fixedSettings = new JOLT.FixedConstraintSettings()
 
         const jointOrigin = jointDefinition.origin
-            ? MirabufVector3_JoltVec3(jointDefinition.origin as mirabuf.Vector3)
-            : new JOLT.Vec3(0, 0, 0)
+            ? MirabufVector3_JoltRVec3(jointDefinition.origin as mirabuf.Vector3)
+            : new JOLT.RVec3(0, 0, 0)
         const jointOriginOffset = jointInstance.offset
-            ? MirabufVector3_JoltVec3(jointInstance.offset as mirabuf.Vector3)
-            : new JOLT.Vec3(0, 0, 0)
+            ? MirabufVector3_JoltRVec3(jointInstance.offset as mirabuf.Vector3)
+            : new JOLT.RVec3(0, 0, 0)
 
-        const anchorPoint = jointOrigin.Add(jointOriginOffset)
+        const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
         fixedSettings.mPoint1 = fixedSettings.mPoint2 = anchorPoint
 
         const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
 
         // No scaling, these are unit vectors
         const miraAxis = rotationalFreedom.axis! as mirabuf.Vector3
         const miraAxisX: number = (versionNum < 5 ? -miraAxis.x : miraAxis.x) ?? 0
-        const axis: Jolt.Vec3 = new JOLT.Vec3(miraAxisX, miraAxis.y ?? 0, miraAxis.z ?? 0)
+        const axis: Jolt.RVec3 = new JOLT.RVec3(miraAxisX, miraAxis.y ?? 0, miraAxis.z ?? 0)
 
         const bounds = bodyWheel.GetShape().GetLocalBounds()
         const radius = (bounds.mMax.GetY() - bounds.mMin.GetY()) / 2.0
 
         const wheelSettings = new JOLT.WheelSettingsWV()
-        wheelSettings.mPosition = anchorPoint.Add(axis.Mul(0.1))
+        wheelSettings.mPosition = JoltRVec3_JoltVec3(anchorPoint.AddRVec3(axis.Mul(0.1)))
         wheelSettings.mMaxSteerAngle = 0.0
         wheelSettings.mMaxHandBrakeTorque = 0.0
         wheelSettings.mRadius = radius * 1.05
@@ -733,7 +737,7 @@ class PhysicsSystem extends WorldSystem {
             const c = constraints[i]
             const hingeSettings = new JOLT.HingeConstraintSettings()
             hingeSettings.mMaxFrictionTorque = c.friction
-            hingeSettings.mPoint1 = hingeSettings.mPoint2 = anchorPoint
+            hingeSettings.mPoint1 = hingeSettings.mPoint2 = JoltVec3_JoltRVec3(anchorPoint)
             hingeSettings.mHingeAxis1 = hingeSettings.mHingeAxis2 = c.axis.Normalized()
             hingeSettings.mNormalAxis1 = hingeSettings.mNormalAxis2 = getPerpendicular(hingeSettings.mHingeAxis1)
             if (c.upper && c.lower) {
@@ -1029,7 +1033,7 @@ class PhysicsSystem extends WorldSystem {
 
                 const bodySettings = new JOLT.BodyCreationSettings(
                     shape,
-                    new JOLT.Vec3(0.0, 0.0, 0.0),
+                    new JOLT.RVec3(0.0, 0.0, 0.0),
                     new JOLT.Quat(0, 0, 0, 1),
                     rn.isDynamic ? JOLT.EMotionType_Dynamic : JOLT.EMotionType_Static,
                     rnLayer
@@ -1162,7 +1166,7 @@ class PhysicsSystem extends WorldSystem {
      * @returns Either the hit results of the closest object in the ray's path, or undefined if nothing was hit.
      */
     public RayCast(from: Jolt.Vec3, dir: Jolt.Vec3, ...ignoreBodies: Jolt.BodyID[]): RayCastHit | undefined {
-        const ray = new JOLT.RayCast(from, dir)
+        const ray = new JOLT.RRayCast(JoltVec3_JoltRVec3(from), dir)
 
         const raySettings = new JOLT.RayCastSettings()
         raySettings.mTreatConvexAsSolid = false
@@ -1181,7 +1185,7 @@ class PhysicsSystem extends WorldSystem {
         if (!collector.HadHit()) return undefined
 
         const hitPoint = ray.GetPointOnRay(collector.mHit.mFraction)
-        return { data: collector.mHit, point: hitPoint, ray: ray }
+        return { data: collector.mHit, point: JoltRVec3_JoltVec3(hitPoint), ray: ray }
     }
 
     /**
@@ -1287,7 +1291,7 @@ class PhysicsSystem extends WorldSystem {
         const rot = new JOLT.Quat(0, 0, 0, 1)
         const creationSettings = new JOLT.BodyCreationSettings(
             shape,
-            position,
+            JoltVec3_JoltRVec3(position),
             rot,
             JOLT.EMotionType_Dynamic,
             LAYER_GHOST
@@ -1326,8 +1330,7 @@ class PhysicsSystem extends WorldSystem {
         this._bodies.push(ghostBodyId)
 
         const constraintSettings = new JOLT.PointConstraintSettings()
-        constraintSettings.set_mPoint1(anchorPoint)
-        constraintSettings.set_mPoint2(anchorPoint)
+        constraintSettings.mPoint1 = constraintSettings.mPoint2 = JoltVec3_JoltRVec3(anchorPoint)
         const constraint = constraintSettings.Create(ghostBody, body)
         this._joltPhysSystem.AddConstraint(constraint)
         this._constraints.push(constraint)
@@ -1610,7 +1613,7 @@ function tryGetPerpendicular(vec: Jolt.Vec3, toCheck: Jolt.Vec3): Jolt.Vec3 | un
 export type RayCastHit = {
     data: Jolt.RayCastResult
     point: Jolt.Vec3
-    ray: Jolt.RayCast
+    ray: Jolt.RRayCast
 }
 
 /**

fission/src/systems/scene/GizmoSceneObject.ts

@@ -5,7 +5,7 @@ import InputSystem from "../input/InputSystem"
 import World from "../World"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import { Object3D, PerspectiveCamera } from "three"
-import { ThreeQuaternion_JoltQuat, JoltMat44_ThreeMatrix4, ThreeVector3_JoltVec3 } from "@/util/TypeConversions"
+import { ThreeQuaternion_JoltQuat, JoltMat44_ThreeMatrix4, ThreeVector3_JoltRVec3 } from "@/util/TypeConversions"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
 
 export type GizmoMode = "translate" | "rotate" | "scale"
@@ -210,7 +210,7 @@ class GizmoSceneObject extends SceneObject {
 
         World.PhysicsSystem.SetBodyPositionAndRotation(
             jBodyId,
-            ThreeVector3_JoltVec3(position),
+            ThreeVector3_JoltRVec3(position),
             ThreeQuaternion_JoltQuat(rotation)
         )
     }

fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts

@@ -20,6 +20,7 @@ import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
 import IntakeDriver from "../driver/IntakeDriver"
 import EjectorDriver from "../driver/EjectorDriver"
 import GamepieceManipBehavior from "../behavior/synthesis/GamepieceManipBehavior"
+import { JoltVec3_JoltRVec3 } from "@/util/TypeConversions"
 
 class SynthesisBrain extends Brain {
     public static brainIndexMap = new Map<number, SynthesisBrain>()
@@ -128,14 +129,14 @@ class SynthesisBrain extends Brain {
 
         // Determines which wheels and stimuli belong to which side of the robot
         for (let i = 0; i < wheelDrivers.length; i++) {
-            const wheelPos = fixedConstraints[i].GetConstraintToBody1Matrix().GetTranslation()
+            const wheelPos = JoltVec3_JoltRVec3(fixedConstraints[i].GetConstraintToBody1Matrix().GetTranslation())
 
             const robotCOM = World.PhysicsSystem.GetBody(
                 this._mechanism.constraints[0].childBody
-            ).GetCenterOfMassPosition() as Jolt.Vec3
-            const rightVector = new JOLT.Vec3(1, 0, 0)
+            ).GetCenterOfMassPosition()
+            const rightVector = new JOLT.RVec3(1, 0, 0)
 
-            const dotProduct = rightVector.Dot(wheelPos.Sub(robotCOM))
+            const dotProduct = rightVector.Dot(wheelPos.SubRVec3(robotCOM))
 
             if (dotProduct < 0) {
                 rightWheels.push(wheelDrivers[i])

fission/src/test/PhysicsSystem.test.ts

@@ -2,8 +2,8 @@ import { test, expect, describe, assert } from "vitest"
 import PhysicsSystem, { LayerReserve } from "../systems/physics/PhysicsSystem"
 import MirabufParser from "@/mirabuf/MirabufParser"
 import * as THREE from "three"
-import Jolt from "@barclah/jolt-physics"
 import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
+import { JoltRVec3_JoltVec3 } from "@/util/TypeConversions"
 
 describe("Physics Sansity Checks", () => {
     test("Convex Hull Shape (Cube)", () => {
@@ -54,7 +54,10 @@ describe("GodMode", () => {
     test("Basic", () => {
         const system = new PhysicsSystem()
         const box = system.CreateBox(new THREE.Vector3(1, 1, 1), 1, new THREE.Vector3(0, 0, 0), undefined)
-        const [ghostObject, ghostConstraint] = system.CreateGodModeBody(box.GetID(), box.GetPosition() as Jolt.Vec3)
+        const [ghostObject, ghostConstraint] = system.CreateGodModeBody(
+            box.GetID(),
+            JoltRVec3_JoltVec3(box.GetPosition())
+        )
 
         assert(system.GetBody(ghostObject.GetID()) != undefined)
         assert(system.GetBody(box.GetID()) != undefined)

fission/src/test/util/TypeConversions.test.ts

@@ -217,7 +217,7 @@ describe("Mirabuf to Three Conversions", () => {
 })
 
 describe("Jolt to Three Conversions", () => {
-    function compareMat(jM: Jolt.Mat44, tM: THREE.Matrix4) {
+    function compareMat(jM: Jolt.RMat44, tM: THREE.Matrix4) {
         const threeArr = tM.toArray()
 
         for (let c = 0; c < 4; c++) {
@@ -253,7 +253,7 @@ describe("Jolt to Three Conversions", () => {
     }
 
     test("Jolt.Mat44 [Identity] -> THREE.Matrix4", () => {
-        const tmp = new JOLT.Mat44()
+        const tmp = new JOLT.RMat44()
         const joltMat = tmp.sIdentity()
         const threeMat = JoltMat44_ThreeMatrix4(joltMat)
 
@@ -263,7 +263,7 @@ describe("Jolt to Three Conversions", () => {
     })
 
     test("Jolt.Mat44 [+X Axis Rotation] -> THREE.Matrix4", () => {
-        const joltMat = new JOLT.Mat44()
+        const joltMat = new JOLT.RMat44()
         const c0 = new JOLT.Vec4(1, 0, 0, 0)
         const c1 = new JOLT.Vec4(0, 0, -1, 0)
         const c2 = new JOLT.Vec4(0, 1, 0, 0)
@@ -285,7 +285,7 @@ describe("Jolt to Three Conversions", () => {
     })
 
     test("Jolt.Mat44 [-X Axis Rotation] -> THREE.Matrix4", () => {
-        const joltMat = new JOLT.Mat44()
+        const joltMat = new JOLT.RMat44()
         const c0 = new JOLT.Vec4(1, 0, 0, 0)
         const c1 = new JOLT.Vec4(0, 0, 1, 0)
         const c2 = new JOLT.Vec4(0, -1, 0, 0)
@@ -307,7 +307,7 @@ describe("Jolt to Three Conversions", () => {
     })
 
     test("Jolt.Mat44 [X,Y Translation] -> THREE.Matrix4", () => {
-        const joltMat = new JOLT.Mat44()
+        const joltMat = new JOLT.RMat44()
         const c0 = new JOLT.Vec4(1, 0, 0, 0)
         const c1 = new JOLT.Vec4(0, 1, 0, 0)
         const c2 = new JOLT.Vec4(0, 0, 1, 0)

fission/src/ui/panels/DebugPanel.tsx

@@ -14,11 +14,11 @@ import { usePanelControlContext } from "../PanelContext"
 import APS from "@/aps/APS"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
-import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
 import { SynthesisIcons } from "../components/StyledComponents"
 import { Global_AddToast } from "../components/GlobalUIControls"
+import { JoltRVec3_JoltVec3 } from "@/util/TypeConversions"
 
 const LabelStyled = styled(Label)({
     fontWeight: 700,
@@ -39,16 +39,19 @@ async function TestGodMode() {
         return
     }
     const robotPosition = World.PhysicsSystem.GetBody(rootNodeId).GetPosition()
-    const [ghostBody, _ghostConstraint] = World.PhysicsSystem.CreateGodModeBody(rootNodeId, robotPosition as Jolt.Vec3)
+    const [ghostBody, _ghostConstraint] = World.PhysicsSystem.CreateGodModeBody(
+        rootNodeId,
+        JoltRVec3_JoltVec3(robotPosition)
+    )
 
     // Move ghostBody to demonstrate godMode movement
     await new Promise(f => setTimeout(f, 1000))
     World.PhysicsSystem.SetBodyPosition(
         ghostBody.GetID(),
-        new JOLT.Vec3(robotPosition.GetX(), robotPosition.GetY() + 2, robotPosition.GetZ())
+        new JOLT.RVec3(robotPosition.GetX(), robotPosition.GetY() + 2, robotPosition.GetZ())
     )
     await new Promise(f => setTimeout(f, 1000))
-    World.PhysicsSystem.SetBodyPosition(ghostBody.GetID(), new JOLT.Vec3(2, 2, 2))
+    World.PhysicsSystem.SetBodyPosition(ghostBody.GetID(), new JOLT.RVec3(2, 2, 2))
 }
 
 const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {