Exposing operator* for Quat

Temporarily copying webidl_binder.py to this repository.

Fixes #185

Author: jrouwe

.gitignore

@@ -2,3 +2,4 @@ Build/
 dist/
 node_modules
 Examples/js/jolt-physics.*.js
+__pycache__

CMakeLists.txt

@@ -5,7 +5,7 @@ FIND_PACKAGE(Python3)
 set(PYTHON ${Python3_EXECUTABLE} CACHE STRING "Python path")
 set(EMSCRIPTEN_ROOT $ENV{EMSDK}/upstream/emscripten CACHE STRING "Emscripten path")
 set(CMAKE_TOOLCHAIN_FILE ${EMSCRIPTEN_ROOT}/cmake/Modules/Platform/Emscripten.cmake)
-set(WEBIDL_BINDER_SCRIPT ${EMSCRIPTEN_ROOT}/tools/webidl_binder.py)
+set(WEBIDL_BINDER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/tools/webidl_binder.py)
 set(JOLT_FRONT_MATTER_FILE ${CMAKE_CURRENT_SOURCE_DIR}/front-matter.js)
 set(JOLT_HEADER_FILE ${CMAKE_CURRENT_SOURCE_DIR}/JoltJS.h)
 set(JOLT_IDL_FILE ${CMAKE_CURRENT_SOURCE_DIR}/JoltJS.idl)

Examples/conveyor_belt.html

@@ -84,6 +84,9 @@
 					cargo.SetFriction(Math.max((0.0, 1.0 - 0.1 * i)));
 				}
 
+				const cLocalSpaceVelocity = new Jolt.Vec3(0, 0, -10.0);
+				const cLocalSpaceAngularVelocity = new Jolt.Vec3(0, DegreesToRadians(10.0), 0);
+
 				// Register contact listener
 				const contactListener = new Jolt.ContactListenerJS();
 				contactListener.OnContactAdded = (body1, body2, manifold, settings) => {
@@ -94,44 +97,39 @@
 
 					const body1ID = body1.GetID().GetIndexAndSequenceNumber();
 					const body2ID = body2.GetID().GetIndexAndSequenceNumber();
-					const rotation1 = wrapQuat(body1.GetRotation());
-					const rotation2 = wrapQuat(body2.GetRotation());
+					const rotation1 = body1.GetRotation().Clone(); // Next call to GetRotation() will overwrite rotation1
+					const rotation2 = body2.GetRotation();
 
 					const body1LinearBelt = linearBelts.find(belt => belt.GetID().GetIndexAndSequenceNumber() == body1ID)
 					const body2LinearBelt = linearBelts.find(belt => belt.GetID().GetIndexAndSequenceNumber() == body2ID)
 					if (body1LinearBelt || body2LinearBelt) {
 						// Determine the world space surface velocity of both bodies
-						const cLocalSpaceVelocity = new THREE.Vector3(0, 0, -10.0);
-						const body1LinearSurfaceVelocity = body1LinearBelt ? cLocalSpaceVelocity.applyQuaternion(rotation1) : new THREE.Vector3(0, 0, 0);
-						const body2LinearSurfaceVelocity = body2LinearBelt ? cLocalSpaceVelocity.applyQuaternion(rotation2) : new THREE.Vector3(0, 0, 0);
+						const body1LinearSurfaceVelocity = body1LinearBelt ? rotation1.MulVec3(cLocalSpaceVelocity).Clone() : new Jolt.Vec3(0, 0, 0);
+						const body2LinearSurfaceVelocity = body2LinearBelt ? rotation2.MulVec3(cLocalSpaceVelocity).Clone() : new Jolt.Vec3(0, 0, 0);
 
 						// Calculate the relative surface velocity
-						const v = body2LinearSurfaceVelocity.sub(body1LinearSurfaceVelocity);
-						settings.mRelativeLinearSurfaceVelocity.Set(v.x, v.y, v.z);
+						body2LinearSurfaceVelocity.Sub(body1LinearSurfaceVelocity);
+						settings.mRelativeLinearSurfaceVelocity = body2LinearSurfaceVelocity;
 					}
 
 					const angularBodyId = angularBelt.GetID().GetIndexAndSequenceNumber();
 					const body1Angular = body1ID == angularBodyId;
 					const body2Angular = body2ID == angularBodyId;
 					if (body1Angular || body2Angular) {
 						// Determine the world space angular surface velocity of both bodies
-						const cLocalSpaceAngularVelocity = new THREE.Vector3(0, DegreesToRadians(10.0), 0);
-						const body1AngularSurfaceVelocity = body1Angular ? cLocalSpaceAngularVelocity.applyQuaternion(rotation1) : new THREE.Vector3(0, 0, 0);
-						const body2AngularSurfaceVelocity = body2Angular ? cLocalSpaceAngularVelocity.applyQuaternion(rotation2) : new THREE.Vector3(0, 0, 0);
+						const body1AngularSurfaceVelocity = body1Angular ? rotation1.MulVec3(cLocalSpaceAngularVelocity).Clone() : new Jolt.Vec3(0, 0, 0);
+						const body2AngularSurfaceVelocity = body2Angular ? rotation2.MulVec3(cLocalSpaceAngularVelocity).Clone() : new Jolt.Vec3(0, 0, 0);
 
 						// Note that the angular velocity is the angular velocity around body 1's center of mass, so we need to add the linear velocity of body 2's center of mass
-						const COM1 = wrapVec3(body1.GetCenterOfMassPosition());
-						const COM2 = wrapVec3(body2.GetCenterOfMassPosition());
-						const body2LinearSurfaceVelocity = body2Angular ?
-							body2AngularSurfaceVelocity.cross(COM1.clone().sub(COM2)) : new THREE.Vector3(0, 0, 0);
+						const COM1 = body1.GetCenterOfMassPosition().Clone();
+						const COM2 = body2.GetCenterOfMassPosition();
+						const body2LinearSurfaceVelocity = body2Angular ? body2AngularSurfaceVelocity.Cross(COM1.Sub(COM2)).Clone() : new Jolt.Vec3(0, 0, 0);
 
 						// Calculate the relative angular surface velocity
-						const rls = body2LinearSurfaceVelocity;
-						settings.mRelativeLinearSurfaceVelocity.Set(rls.x, rls.y, rls.z);
-						const ras = body2AngularSurfaceVelocity.sub(body1AngularSurfaceVelocity);
-						settings.mRelativeAngularSurfaceVelocity.Set(ras.x, ras.y, ras.z);
+						settings.mRelativeLinearSurfaceVelocity = body2LinearSurfaceVelocity;
+						body2AngularSurfaceVelocity.Sub(body1AngularSurfaceVelocity);
+						settings.mRelativeAngularSurfaceVelocity = body2AngularSurfaceVelocity;
 					}
-
 				};
 				contactListener.OnContactPersisted = (body1, body2, manifold, settings) => {
 					// Same behavior as contact added

JoltJS.idl

@@ -379,6 +379,9 @@ interface Quat {
 	[Value] static Quat sFromTo([Const, Ref] Vec3 inFrom, [Const, Ref] Vec3 inTo);
 	[Operator="=="] boolean Equals([Const, Ref] Quat inQ);
 	[Operator="!="] boolean NotEquals([Const, Ref] Quat inQ);
+	[Operator="*", Value] Quat MulQuat([Const, Ref] Quat inQ);
+	[Operator="*", Value] Vec3 MulVec3([Const, Ref] Vec3 inV);
+	[Operator="*", Value] Quat MulFloat(float inV);
 	boolean IsClose([Const, Ref] Quat inQ, optional float inMaxDistSq);
 	boolean IsNormalized(optional float inTolerance);
 	float Length();

ci/install-emsdk.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-EMSDK_VERSION=3.1.64
+EMSDK_VERSION=3.1.69
 
 git clone https://github.com/emscripten-core/emsdk.git
 

tools/README.md

@@ -0,0 +1,3 @@
+The files in this folder are modified versions of https://github.com/emscripten-core/emscripten/tree/main/tools and https://github.com/emscripten-core/emscripten/tree/main/third_party at version 10cb9d46cdd17e7a96de68137c9649d9a630fbc7
+
+They are here until this PR is merged: https://github.com/emscripten-core/emscripten/pull/22770