From 27e0abc303f8273754ec3c2a14f8c0d04417e082 Mon Sep 17 00:00:00 2001
From: Nathan Mande <neodarksoulink@gmail.com>
Date: Wed, 20 Nov 2024 01:57:47 +0200
Subject: [PATCH] feat(core): implement all the supported `Joint`s

---
 .vscode/settings.json                      |   5 +-
 playground/src/pages/basics/JointsDemo.vue |   5 +-
 src/components/Joint.vue                   |  89 ----------
 src/components/index.ts                    |   2 +-
 src/components/joints/BaseJoint.vue        | 185 +++++++++++++++++++++
 src/components/joints/index.ts             |  96 +++++++++++
 src/types/joint.ts                         |  10 +-
 7 files changed, 297 insertions(+), 95 deletions(-)
 delete mode 100644 src/components/Joint.vue
 create mode 100644 src/components/joints/BaseJoint.vue
 create mode 100644 src/components/joints/index.ts

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 65aa9d3..ff4e00d 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -54,5 +54,8 @@
   "cSpell.words": [
     "cientos",
     "tresjs"
-  ]
+  ],
+  "[typescript]": {
+    "editor.defaultFormatter": "dbaeumer.vscode-eslint"
+  }
 }
diff --git a/playground/src/pages/basics/JointsDemo.vue b/playground/src/pages/basics/JointsDemo.vue
index c6c7cd0..4ed40f6 100644
--- a/playground/src/pages/basics/JointsDemo.vue
+++ b/playground/src/pages/basics/JointsDemo.vue
@@ -3,7 +3,7 @@ import { OrbitControls } from '@tresjs/cientos'
 import { TresCanvas } from '@tresjs/core'
 // eslint-disable-next-line ts/ban-ts-comment
 // @ts-ignore
-import { type ExposedRigidBody, Joint, Physics, RigidBody } from '@tresjs/rapier'
+import { type ExposedRigidBody, Physics, RigidBody, SphericalJoint } from '@tresjs/rapier'
 import { ACESFilmicToneMapping, Quaternion, SRGBColorSpace } from 'three'
 import { shallowRef } from 'vue'
 import type { ShallowRef } from 'vue'
@@ -52,10 +52,9 @@ setInterval(() => {
           </TresMesh>
         </RigidBody>
 
-        <Joint
+        <SphericalJoint
           v-for="(ref, i) in bodyRefs"
           :key="i"
-          type="spherical"
           :bodies="[ref.value?.[0]?.instance, bodyRefs[i - 1]?.value?.[0]?.instance]"
           :params="[
             [-1.1, 0, 0],
diff --git a/src/components/Joint.vue b/src/components/Joint.vue
deleted file mode 100644
index b03476c..0000000
--- a/src/components/Joint.vue
+++ /dev/null
@@ -1,89 +0,0 @@
-<script lang="ts" setup>
-import { type ImpulseJoint, type JointData, Quaternion, Vector3 } from '@dimforge/rapier3d-compat'
-import { shallowRef, watch } from 'vue'
-
-import { useRapier } from '../composables'
-import type { JointProps, QuaternionArray, VectorArray } from '../types'
-
-const {
-  type = 'fixed',
-  bodies = [],
-  params = [
-    [0, 0, 0],
-    [0, 0, 0, 0],
-    [0, 0, 0],
-    [0, 0, 0, 0],
-  ],
-} = defineProps<JointProps>()
-
-const { world, rapier } = useRapier()
-
-const joins = shallowRef<ImpulseJoint>()
-
-watch(() => bodies, (bodies) => {
-  if (
-    !(bodies?.[0] instanceof rapier.RigidBody)
-    || !(bodies?.[1] instanceof rapier.RigidBody)
-    || !Array.isArray(params)
-  ) {
-    return
-  }
-
-  let jointParams: JointData | undefined
-
-  if (type === 'fixed') {
-    jointParams = rapier.JointData.fixed(
-      new Vector3(0, 8, 2),
-      new Quaternion(0, 0, 0, 0),
-      new Vector3(0, 8, -2),
-      new Quaternion(0, 0, 0, 0),
-    )
-  }
-
-  if (
-    type === 'rope'
-    && params.length >= 3
-    && typeof params[0] === 'number'
-    && (Array.isArray(params[1]) && params[1].length >= 3)
-    && (Array.isArray(params[2]) && params[2].length >= 4)
-  ) {
-    jointParams = rapier.JointData.rope(
-      params[0],
-      new Vector3(...params[1] as VectorArray),
-      new Quaternion(...params[2] as QuaternionArray),
-    )
-  }
-  else if (type === 'rope') {
-    throw new Error(`Invalid "${type}" joint parameters`)
-  }
-
-  if (
-    type === 'spherical'
-    && params.length >= 2
-    && (Array.isArray(params[0]) && params[0].length >= 3)
-    && (Array.isArray(params[1]) && params[1].length >= 3)
-  ) {
-    jointParams = rapier.JointData.spherical(
-      new Vector3(...params[0] as VectorArray),
-      new Vector3(...params[1] as VectorArray),
-    )
-  }
-  else if (type === 'spherical') {
-    throw new Error(`Invalid "${type}" joint parameters`)
-  }
-
-  if (!jointParams) {
-    throw new Error(`Unsupported joint type. If you think this is a bug or the "${type}" type should be implemented, please open an issue.`)
-  }
-
-  joins.value = world.createImpulseJoint(jointParams, bodies[0], bodies[1], true)
-})
-
-defineExpose({
-  joins,
-})
-</script>
-
-<template>
-  <slot v-once></slot>
-</template>
diff --git a/src/components/index.ts b/src/components/index.ts
index 19e09fe..ac36a87 100644
--- a/src/components/index.ts
+++ b/src/components/index.ts
@@ -1,5 +1,5 @@
 export * from './colliders'
 export { default as InstancedRigidBody } from './InstancedRigidBody.vue'
-export { default as Joint } from './Joint.vue'
+export * from './joints'
 export { default as Physics } from './Physics.vue'
 export { default as RigidBody } from './RigidBody.vue'
diff --git a/src/components/joints/BaseJoint.vue b/src/components/joints/BaseJoint.vue
new file mode 100644
index 0000000..9f4426a
--- /dev/null
+++ b/src/components/joints/BaseJoint.vue
@@ -0,0 +1,185 @@
+<script lang="ts" setup>
+import { type ImpulseJoint, type JointAxesMask, type JointData, Quaternion, Vector3 } from '@dimforge/rapier3d-compat'
+import { onUnmounted, shallowRef, watch } from 'vue'
+
+import { useRapier } from '../../composables'
+import type { JointProps, QuaternionArray, VectorArray } from '../../types'
+
+const {
+  type = 'fixed',
+  bodies,
+  params = [
+    [0, 0, 0],
+    [0, 0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0, 0],
+  ],
+  wakeUpOnChanges = true,
+} = defineProps<JointProps>()
+const { world, rapier } = useRapier()
+
+const joins = shallowRef<ImpulseJoint>()
+
+watch(() => bodies, (bodies) => {
+  if (
+    joins.value
+    || !(bodies?.[0] instanceof rapier.RigidBody)
+    || !(bodies?.[1] instanceof rapier.RigidBody)
+    || !Array.isArray(params)
+  ) {
+    return
+  }
+
+  let jointParams: JointData | undefined
+  let hasParamsError = false
+
+  if (
+    type === 'fixed'
+    && params.length >= 4
+    && (Array.isArray(params[0]) && params[0].length >= 3)
+    && (Array.isArray(params[1]) && params[1].length >= 4)
+    && (Array.isArray(params[2]) && params[2].length >= 3)
+    && (Array.isArray(params[3]) && params[3].length >= 4)
+  ) {
+    jointParams = rapier.JointData.fixed(
+      new Vector3(...params[0] as VectorArray),
+      new Quaternion(...params[1] as QuaternionArray),
+      new Vector3(...params[2] as VectorArray),
+      new Quaternion(...params[3] as QuaternionArray),
+    )
+  }
+  else if (type === 'fixed') {
+    hasParamsError = true
+  }
+
+  if (
+    type === 'generic'
+    && params.length >= 3
+    && (Array.isArray(params[0]) && params[0].length >= 3)
+    && (Array.isArray(params[1]) && params[1].length >= 3)
+    && (Array.isArray(params[2]) && params[2].length >= 3)
+    && typeof params[3] === 'number'
+  ) {
+    jointParams = rapier.JointData.generic(
+      new Vector3(...params[0] as VectorArray),
+      new Vector3(...params[1] as VectorArray),
+      new Vector3(...params[2] as VectorArray),
+      params[3] as JointAxesMask,
+    )
+  }
+  else if (type === 'generic') {
+    hasParamsError = true
+  }
+
+  if (
+    type === 'prismatic'
+    && params.length >= 4
+    && (Array.isArray(params[0]) && params[0].length >= 3)
+    && (Array.isArray(params[1]) && params[1].length >= 3)
+    && (Array.isArray(params[2]) && params[2].length >= 3)
+  ) {
+    jointParams = rapier.JointData.prismatic(
+      new Vector3(...params[0] as VectorArray),
+      new Vector3(...params[1] as VectorArray),
+      new Vector3(...params[1] as VectorArray),
+    )
+  }
+  else if (type === 'prismatic') {
+    hasParamsError = true
+  }
+
+  if (
+    type === 'revolute'
+    && params.length >= 3
+    && (Array.isArray(params[0]) && params[0].length >= 3)
+    && (Array.isArray(params[1]) && params[1].length >= 3)
+    && (Array.isArray(params[2]) && params[2].length >= 3)
+  ) {
+    jointParams = rapier.JointData.revolute(
+      new Vector3(...params[0] as VectorArray),
+      new Vector3(...params[1] as VectorArray),
+      new Vector3(...params[2] as VectorArray),
+    )
+  }
+  else if (type === 'revolute') {
+    hasParamsError = true
+  }
+
+  if (
+    type === 'rope'
+    && params.length >= 3
+    && typeof params[0] === 'number'
+    && (Array.isArray(params[1]) && params[1].length >= 3)
+    && (Array.isArray(params[2]) && params[2].length >= 4)
+  ) {
+    jointParams = rapier.JointData.rope(
+      params[0],
+      new Vector3(...params[1] as VectorArray),
+      new Quaternion(...params[2] as QuaternionArray),
+    )
+  }
+  else if (type === 'rope') {
+    hasParamsError = true
+  }
+
+  if (
+    type === 'spherical'
+    && params.length >= 2
+    && (Array.isArray(params[0]) && params[0].length >= 3)
+    && (Array.isArray(params[1]) && params[1].length >= 3)
+  ) {
+    jointParams = rapier.JointData.spherical(
+      new Vector3(...params[0] as VectorArray),
+      new Vector3(...params[1] as VectorArray),
+    )
+  }
+  else if (type === 'spherical') {
+    hasParamsError = true
+  }
+
+  if (
+    type === 'spring'
+    && params.length >= 5
+    && typeof params[0] === 'number'
+    && typeof params[1] === 'number'
+    && typeof params[2] === 'number'
+    && (Array.isArray(params[3]) && params[3].length >= 3)
+    && (Array.isArray(params[4]) && params[4].length >= 3)
+  ) {
+    jointParams = rapier.JointData.spring(
+      params[0],
+      params[1],
+      params[2],
+      new Vector3(...params[3] as VectorArray),
+      new Vector3(...params[4] as VectorArray),
+    )
+  }
+  else if (type === 'spring') {
+    hasParamsError = true
+  }
+
+  if (hasParamsError) {
+    throw new Error(`Invalid "${type}" joint parameters`)
+  }
+
+  if (!jointParams) {
+    throw new Error(`Unsupported joint type. If you think this is a bug or the "${type}" type should be implemented, please open an issue.`)
+  }
+
+  joins.value = world.createImpulseJoint(jointParams, bodies[0], bodies[1], wakeUpOnChanges)
+})
+
+onUnmounted(() => {
+  if (joins.value) {
+    world.removeImpulseJoint(joins.value, wakeUpOnChanges)
+  }
+})
+
+defineExpose({
+  joins,
+})
+</script>
+
+<template>
+  <slot v-once></slot>
+</template>
diff --git a/src/components/joints/index.ts b/src/components/joints/index.ts
new file mode 100644
index 0000000..a10a076
--- /dev/null
+++ b/src/components/joints/index.ts
@@ -0,0 +1,96 @@
+import type { JointAxesMask } from '@dimforge/rapier3d-compat'
+import type { Component } from 'vue'
+import NativeBaseJoint from './BaseJoint.vue'
+import type {
+  JointProps,
+  JointType,
+  QuaternionArray,
+  VectorArray,
+} from '../../types'
+
+const createJoint = <Props extends Omit<Props, 'type'>>(type: JointType): Component<Props> => ({
+  __name: `${type.charAt(0).toUpperCase() + type.slice(1)}Joint`,
+  extends: NativeBaseJoint,
+  props: {
+    ...NativeBaseJoint.props,
+    type: {
+      type: String,
+      default: type,
+      validator: (value: typeof type) => value === type,
+    },
+  },
+  setup: (_props, ctx) => NativeBaseJoint?.setup?.(
+    _props as unknown as Parameters<
+      Exclude<(typeof NativeBaseJoint)['setup'], undefined>
+    >['0'],
+    ctx,
+  ),
+})
+
+/** @description Joint set as `Fixed` */
+export const FixedJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+		anchor1: VectorArray,
+		frame1: QuaternionArray,
+		anchor2: VectorArray,
+		frame2: QuaternionArray,
+  ]
+}>('fixed')
+
+/** @description Joint set as `Generic` */
+export const GenericJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+    anchor1: VectorArray,
+    anchor2: VectorArray,
+    axis: VectorArray,
+    axesMask: JointAxesMask,
+  ]
+}>('generic')
+
+/** @description Joint set as ` Prismatic` */
+export const PrismaticJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+    anchor1: VectorArray,
+    anchor2: VectorArray,
+    axis: VectorArray,
+  ]
+}>('prismatic')
+
+/** @description Joint set as `Revolute` */
+export const RevoluteJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+    anchor1: VectorArray,
+    anchor2: VectorArray,
+    axis: VectorArray,
+  ]
+}>('revolute')
+
+/** @description Joint set as `Rope` */
+export const RopeJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+    length: number,
+    anchor1: VectorArray,
+    anchor2: VectorArray,
+  ]
+}>('rope')
+
+/** @description Joint set as `Spherical` */
+export const SphericalJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+    anchor1: VectorArray,
+    anchor2: VectorArray,
+  ]
+}>('spherical')
+
+/** @description Joint set as `Spring` */
+export const SpringJoint = createJoint<Omit<JointProps, 'params'> & {
+  params: [
+    rest_length: number,
+    stiffness: number,
+    damping: number,
+    anchor1: VectorArray,
+    anchor2: VectorArray,
+  ]
+}>('spring')
+
+export const BaseJoint = NativeBaseJoint
diff --git a/src/types/joint.ts b/src/types/joint.ts
index e518fba..7446f0b 100644
--- a/src/types/joint.ts
+++ b/src/types/joint.ts
@@ -9,8 +9,16 @@ export interface JointProps {
   type: JointType
 
   /** @description  Bodies to connect with the joint. */
-  bodies?: RigidBody[]
+  bodies?: [RigidBody, RigidBody]
 
   /** @description {@link JointData} parameters. */
   params?: (number | number[])[]
+
+  /**
+   * @description
+   * If the joint should wake up the bodies when a lifecycle hook (mount, unmount, on update, ...) occurs.
+   *
+   * @default true
+   */
+  wakeUpOnChanges?: boolean
 }