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HunterBarclayHunterBarclay
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Upgrade JoltPhysics.JS to v0.31.0 (#1119)
* Upgrade to JoltPhysics 0.31.0 * chore: Format
1 parent cd8659c commit 6aa6f0c

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13 files changed

+82
-55
lines changed

13 files changed

+82
-55
lines changed

‎fission/package.json‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
"playwright:install": "bun x playwright install || npx playwright install"
2222
},
2323
"dependencies": {
24-
"@barclah/jolt-physics": "^0.24.1",
24+
"@barclah/jolt-physics": "^0.31.0",
2525
"@haensl/google-analytics": "^1.2.0",
2626
"@mui/base": "^5.0.0-beta.40",
2727
"@mui/icons-material": "^5.15.20",

‎fission/src/mirabuf/EjectableSceneObject.ts‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,7 @@ import {
77
JoltMat44_ThreeMatrix4,
88
JoltQuat_ThreeQuaternion,
99
ThreeQuaternion_JoltQuat,
10+
ThreeVector3_JoltRVec3,
1011
ThreeVector3_JoltVec3,
1112
} from "@/util/TypeConversions"
1213
import * as THREE from "three"
@@ -88,7 +89,7 @@ class EjectableSceneObject extends SceneObject {
8889
const rotation = new THREE.Quaternion(0, 0, 0, 1)
8990
bodyTransform.decompose(position, rotation, new THREE.Vector3(1, 1, 1))
9091

91-
World.PhysicsSystem.SetBodyPosition(this._gamePieceBodyId, ThreeVector3_JoltVec3(position), false)
92+
World.PhysicsSystem.SetBodyPosition(this._gamePieceBodyId, ThreeVector3_JoltRVec3(position), false)
9293
World.PhysicsSystem.SetBodyRotation(this._gamePieceBodyId, ThreeQuaternion_JoltQuat(rotation), false)
9394
}
9495
}

‎fission/src/mirabuf/IntakeSensorSceneObject.ts‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ import {
88
Array_ThreeMatrix4,
99
JoltMat44_ThreeMatrix4,
1010
ThreeQuaternion_JoltQuat,
11-
ThreeVector3_JoltVec3,
11+
ThreeVector3_JoltRVec3,
1212
} from "@/util/TypeConversions"
1313
import { OnContactPersistedEvent } from "@/systems/physics/ContactEvents"
1414

@@ -70,7 +70,7 @@ class IntakeSensorSceneObject extends SceneObject {
7070
const rotation = new THREE.Quaternion(0, 0, 0, 1)
7171
bodyTransform.decompose(position, rotation, new THREE.Vector3(1, 1, 1))
7272

73-
World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(position))
73+
World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltRVec3(position))
7474
World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(rotation))
7575
}
7676
}

‎fission/src/mirabuf/ScoringZoneSceneObject.ts‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ import {
22
Array_ThreeMatrix4,
33
JoltMat44_ThreeMatrix4,
44
ThreeQuaternion_JoltQuat,
5-
ThreeVector3_JoltVec3,
5+
ThreeVector3_JoltRVec3,
66
} from "@/util/TypeConversions"
77
import MirabufSceneObject, { RigidNodeAssociate } from "./MirabufSceneObject"
88
import JOLT from "@/util/loading/JoltSyncLoader"
@@ -84,7 +84,7 @@ class ScoringZoneSceneObject extends SceneObject {
8484
)
8585
const props = DeltaFieldTransforms_PhysicalProp(this._deltaTransformation, fieldTransformation)
8686

87-
World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(props.translation))
87+
World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltRVec3(props.translation))
8888
World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(props.rotation))
8989
const shapeSettings = new JOLT.BoxShapeSettings(
9090
new JOLT.Vec3(props.scale.x / 2, props.scale.y / 2, props.scale.z / 2)
@@ -148,7 +148,7 @@ class ScoringZoneSceneObject extends SceneObject {
148148
)
149149
const props = DeltaFieldTransforms_PhysicalProp(this._deltaTransformation, fieldTransformation)
150150

151-
World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(props.translation))
151+
World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltRVec3(props.translation))
152152
World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(props.rotation))
153153
const shapeSettings = new JOLT.BoxShapeSettings(
154154
new JOLT.Vec3(props.scale.x / 2, props.scale.y / 2, props.scale.z / 2)

‎fission/src/systems/physics/PhysicsSystem.ts‎

Lines changed: 30 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,13 @@
11
import {
2+
JoltRVec3_JoltVec3,
3+
JoltVec3_JoltRVec3,
24
JoltVec3_ThreeVector3,
35
MirabufFloatArr_JoltFloat3,
46
MirabufFloatArr_JoltVec3,
7+
MirabufVector3_JoltRVec3,
58
MirabufVector3_JoltVec3,
69
ThreeMatrix4_JoltMat44,
10+
ThreeVector3_JoltRVec3,
711
ThreeVector3_JoltVec3,
812
_JoltQuat,
913
} from "../../util/TypeConversions"
@@ -234,7 +238,7 @@ class PhysicsSystem extends WorldSystem {
234238
const shape = new JOLT.BoxShape(size, 0.1)
235239
JOLT.destroy(size)
236240

237-
const pos = position ? ThreeVector3_JoltVec3(position) : new JOLT.Vec3(0.0, 0.0, 0.0)
241+
const pos = position ? ThreeVector3_JoltRVec3(position) : new JOLT.RVec3(0.0, 0.0, 0.0)
238242
const rot = _JoltQuat(rotation)
239243
const creationSettings = new JOLT.BodyCreationSettings(
240244
shape,
@@ -269,7 +273,7 @@ class PhysicsSystem extends WorldSystem {
269273
position: THREE.Vector3 | undefined,
270274
rotation: THREE.Euler | THREE.Quaternion | undefined
271275
) {
272-
const pos = position ? ThreeVector3_JoltVec3(position) : new JOLT.Vec3(0.0, 0.0, 0.0)
276+
const pos = position ? ThreeVector3_JoltRVec3(position) : new JOLT.RVec3(0.0, 0.0, 0.0)
273277
const rot = _JoltQuat(rotation)
274278
const creationSettings = new JOLT.BodyCreationSettings(
275279
shape,
@@ -464,14 +468,14 @@ class PhysicsSystem extends WorldSystem {
464468
const hingeConstraintSettings = new JOLT.HingeConstraintSettings()
465469

466470
const jointOrigin = jointDefinition.origin
467-
? MirabufVector3_JoltVec3(jointDefinition.origin as mirabuf.Vector3)
468-
: new JOLT.Vec3(0, 0, 0)
471+
? MirabufVector3_JoltRVec3(jointDefinition.origin as mirabuf.Vector3)
472+
: new JOLT.RVec3(0, 0, 0)
469473
// TODO: Offset transformation for robot builder.
470474
const jointOriginOffset = jointInstance.offset
471-
? MirabufVector3_JoltVec3(jointInstance.offset as mirabuf.Vector3)
472-
: new JOLT.Vec3(0, 0, 0)
475+
? MirabufVector3_JoltRVec3(jointInstance.offset as mirabuf.Vector3)
476+
: new JOLT.RVec3(0, 0, 0)
473477

474-
const anchorPoint = jointOrigin.Add(jointOriginOffset)
478+
const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
475479
hingeConstraintSettings.mPoint1 = hingeConstraintSettings.mPoint2 = anchorPoint
476480

477481
const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
@@ -532,14 +536,14 @@ class PhysicsSystem extends WorldSystem {
532536
const sliderConstraintSettings = new JOLT.SliderConstraintSettings()
533537

534538
const jointOrigin = jointDefinition.origin
535-
? MirabufVector3_JoltVec3(jointDefinition.origin as mirabuf.Vector3)
536-
: new JOLT.Vec3(0, 0, 0)
539+
? MirabufVector3_JoltRVec3(jointDefinition.origin as mirabuf.Vector3)
540+
: new JOLT.RVec3(0, 0, 0)
537541
// TODO: Offset transformation for robot builder.
538542
const jointOriginOffset = jointInstance.offset
539-
? MirabufVector3_JoltVec3(jointInstance.offset as mirabuf.Vector3)
540-
: new JOLT.Vec3(0, 0, 0)
543+
? MirabufVector3_JoltRVec3(jointInstance.offset as mirabuf.Vector3)
544+
: new JOLT.RVec3(0, 0, 0)
541545

542-
const anchorPoint = jointOrigin.Add(jointOriginOffset)
546+
const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
543547
sliderConstraintSettings.mPoint1 = sliderConstraintSettings.mPoint2 = anchorPoint
544548

545549
const prismaticFreedom = jointDefinition.prismatic!.prismaticFreedom!
@@ -594,27 +598,27 @@ class PhysicsSystem extends WorldSystem {
594598
const fixedSettings = new JOLT.FixedConstraintSettings()
595599

596600
const jointOrigin = jointDefinition.origin
597-
? MirabufVector3_JoltVec3(jointDefinition.origin as mirabuf.Vector3)
598-
: new JOLT.Vec3(0, 0, 0)
601+
? MirabufVector3_JoltRVec3(jointDefinition.origin as mirabuf.Vector3)
602+
: new JOLT.RVec3(0, 0, 0)
599603
const jointOriginOffset = jointInstance.offset
600-
? MirabufVector3_JoltVec3(jointInstance.offset as mirabuf.Vector3)
601-
: new JOLT.Vec3(0, 0, 0)
604+
? MirabufVector3_JoltRVec3(jointInstance.offset as mirabuf.Vector3)
605+
: new JOLT.RVec3(0, 0, 0)
602606

603-
const anchorPoint = jointOrigin.Add(jointOriginOffset)
607+
const anchorPoint = jointOrigin.AddRVec3(jointOriginOffset)
604608
fixedSettings.mPoint1 = fixedSettings.mPoint2 = anchorPoint
605609

606610
const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
607611

608612
// No scaling, these are unit vectors
609613
const miraAxis = rotationalFreedom.axis! as mirabuf.Vector3
610614
const miraAxisX: number = (versionNum < 5 ? -miraAxis.x : miraAxis.x) ?? 0
611-
const axis: Jolt.Vec3 = new JOLT.Vec3(miraAxisX, miraAxis.y ?? 0, miraAxis.z ?? 0)
615+
const axis: Jolt.RVec3 = new JOLT.RVec3(miraAxisX, miraAxis.y ?? 0, miraAxis.z ?? 0)
612616

613617
const bounds = bodyWheel.GetShape().GetLocalBounds()
614618
const radius = (bounds.mMax.GetY() - bounds.mMin.GetY()) / 2.0
615619

616620
const wheelSettings = new JOLT.WheelSettingsWV()
617-
wheelSettings.mPosition = anchorPoint.Add(axis.Mul(0.1))
621+
wheelSettings.mPosition = JoltRVec3_JoltVec3(anchorPoint.AddRVec3(axis.Mul(0.1)))
618622
wheelSettings.mMaxSteerAngle = 0.0
619623
wheelSettings.mMaxHandBrakeTorque = 0.0
620624
wheelSettings.mRadius = radius * 1.05
@@ -733,7 +737,7 @@ class PhysicsSystem extends WorldSystem {
733737
const c = constraints[i]
734738
const hingeSettings = new JOLT.HingeConstraintSettings()
735739
hingeSettings.mMaxFrictionTorque = c.friction
736-
hingeSettings.mPoint1 = hingeSettings.mPoint2 = anchorPoint
740+
hingeSettings.mPoint1 = hingeSettings.mPoint2 = JoltVec3_JoltRVec3(anchorPoint)
737741
hingeSettings.mHingeAxis1 = hingeSettings.mHingeAxis2 = c.axis.Normalized()
738742
hingeSettings.mNormalAxis1 = hingeSettings.mNormalAxis2 = getPerpendicular(hingeSettings.mHingeAxis1)
739743
if (c.upper && c.lower) {
@@ -1029,7 +1033,7 @@ class PhysicsSystem extends WorldSystem {
10291033

10301034
const bodySettings = new JOLT.BodyCreationSettings(
10311035
shape,
1032-
new JOLT.Vec3(0.0, 0.0, 0.0),
1036+
new JOLT.RVec3(0.0, 0.0, 0.0),
10331037
new JOLT.Quat(0, 0, 0, 1),
10341038
rn.isDynamic ? JOLT.EMotionType_Dynamic : JOLT.EMotionType_Static,
10351039
rnLayer
@@ -1162,7 +1166,7 @@ class PhysicsSystem extends WorldSystem {
11621166
* @returns Either the hit results of the closest object in the ray's path, or undefined if nothing was hit.
11631167
*/
11641168
public RayCast(from: Jolt.Vec3, dir: Jolt.Vec3, ...ignoreBodies: Jolt.BodyID[]): RayCastHit | undefined {
1165-
const ray = new JOLT.RayCast(from, dir)
1169+
const ray = new JOLT.RRayCast(JoltVec3_JoltRVec3(from), dir)
11661170

11671171
const raySettings = new JOLT.RayCastSettings()
11681172
raySettings.mTreatConvexAsSolid = false
@@ -1181,7 +1185,7 @@ class PhysicsSystem extends WorldSystem {
11811185
if (!collector.HadHit()) return undefined
11821186

11831187
const hitPoint = ray.GetPointOnRay(collector.mHit.mFraction)
1184-
return { data: collector.mHit, point: hitPoint, ray: ray }
1188+
return { data: collector.mHit, point: JoltRVec3_JoltVec3(hitPoint), ray: ray }
11851189
}
11861190

11871191
/**
@@ -1287,7 +1291,7 @@ class PhysicsSystem extends WorldSystem {
12871291
const rot = new JOLT.Quat(0, 0, 0, 1)
12881292
const creationSettings = new JOLT.BodyCreationSettings(
12891293
shape,
1290-
position,
1294+
JoltVec3_JoltRVec3(position),
12911295
rot,
12921296
JOLT.EMotionType_Dynamic,
12931297
LAYER_GHOST
@@ -1326,8 +1330,7 @@ class PhysicsSystem extends WorldSystem {
13261330
this._bodies.push(ghostBodyId)
13271331

13281332
const constraintSettings = new JOLT.PointConstraintSettings()
1329-
constraintSettings.set_mPoint1(anchorPoint)
1330-
constraintSettings.set_mPoint2(anchorPoint)
1333+
constraintSettings.mPoint1 = constraintSettings.mPoint2 = JoltVec3_JoltRVec3(anchorPoint)
13311334
const constraint = constraintSettings.Create(ghostBody, body)
13321335
this._joltPhysSystem.AddConstraint(constraint)
13331336
this._constraints.push(constraint)
@@ -1610,7 +1613,7 @@ function tryGetPerpendicular(vec: Jolt.Vec3, toCheck: Jolt.Vec3): Jolt.Vec3 | un
16101613
export type RayCastHit = {
16111614
data: Jolt.RayCastResult
16121615
point: Jolt.Vec3
1613-
ray: Jolt.RayCast
1616+
ray: Jolt.RRayCast
16141617
}
16151618

16161619
/**

‎fission/src/systems/scene/GizmoSceneObject.ts‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ import InputSystem from "../input/InputSystem"
55
import World from "../World"
66
import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
77
import { Object3D, PerspectiveCamera } from "three"
8-
import { ThreeQuaternion_JoltQuat, JoltMat44_ThreeMatrix4, ThreeVector3_JoltVec3 } from "@/util/TypeConversions"
8+
import { ThreeQuaternion_JoltQuat, JoltMat44_ThreeMatrix4, ThreeVector3_JoltRVec3 } from "@/util/TypeConversions"
99
import { RigidNodeId } from "@/mirabuf/MirabufParser"
1010

1111
export type GizmoMode = "translate" | "rotate" | "scale"
@@ -210,7 +210,7 @@ class GizmoSceneObject extends SceneObject {
210210

211211
World.PhysicsSystem.SetBodyPositionAndRotation(
212212
jBodyId,
213-
ThreeVector3_JoltVec3(position),
213+
ThreeVector3_JoltRVec3(position),
214214
ThreeQuaternion_JoltQuat(rotation)
215215
)
216216
}

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

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -20,6 +20,7 @@ import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
2020
import IntakeDriver from "../driver/IntakeDriver"
2121
import EjectorDriver from "../driver/EjectorDriver"
2222
import GamepieceManipBehavior from "../behavior/synthesis/GamepieceManipBehavior"
23+
import { JoltVec3_JoltRVec3 } from "@/util/TypeConversions"
2324

2425
class SynthesisBrain extends Brain {
2526
public static brainIndexMap = new Map<number, SynthesisBrain>()
@@ -128,14 +129,14 @@ class SynthesisBrain extends Brain {
128129

129130
// Determines which wheels and stimuli belong to which side of the robot
130131
for (let i = 0; i < wheelDrivers.length; i++) {
131-
const wheelPos = fixedConstraints[i].GetConstraintToBody1Matrix().GetTranslation()
132+
const wheelPos = JoltVec3_JoltRVec3(fixedConstraints[i].GetConstraintToBody1Matrix().GetTranslation())
132133

133134
const robotCOM = World.PhysicsSystem.GetBody(
134135
this._mechanism.constraints[0].childBody
135-
).GetCenterOfMassPosition() as Jolt.Vec3
136-
const rightVector = new JOLT.Vec3(1, 0, 0)
136+
).GetCenterOfMassPosition()
137+
const rightVector = new JOLT.RVec3(1, 0, 0)
137138

138-
const dotProduct = rightVector.Dot(wheelPos.Sub(robotCOM))
139+
const dotProduct = rightVector.Dot(wheelPos.SubRVec3(robotCOM))
139140

140141
if (dotProduct < 0) {
141142
rightWheels.push(wheelDrivers[i])

‎fission/src/test/PhysicsSystem.test.ts‎

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,8 @@ import { test, expect, describe, assert } from "vitest"
22
import PhysicsSystem, { LayerReserve } from "../systems/physics/PhysicsSystem"
33
import MirabufParser from "@/mirabuf/MirabufParser"
44
import * as THREE from "three"
5-
import Jolt from "@barclah/jolt-physics"
65
import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
6+
import { JoltRVec3_JoltVec3 } from "@/util/TypeConversions"
77

88
describe("Physics Sansity Checks", () => {
99
test("Convex Hull Shape (Cube)", () => {
@@ -54,7 +54,10 @@ describe("GodMode", () => {
5454
test("Basic", () => {
5555
const system = new PhysicsSystem()
5656
const box = system.CreateBox(new THREE.Vector3(1, 1, 1), 1, new THREE.Vector3(0, 0, 0), undefined)
57-
const [ghostObject, ghostConstraint] = system.CreateGodModeBody(box.GetID(), box.GetPosition() as Jolt.Vec3)
57+
const [ghostObject, ghostConstraint] = system.CreateGodModeBody(
58+
box.GetID(),
59+
JoltRVec3_JoltVec3(box.GetPosition())
60+
)
5861

5962
assert(system.GetBody(ghostObject.GetID()) != undefined)
6063
assert(system.GetBody(box.GetID()) != undefined)

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

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -217,7 +217,7 @@ describe("Mirabuf to Three Conversions", () => {
217217
})
218218

219219
describe("Jolt to Three Conversions", () => {
220-
function compareMat(jM: Jolt.Mat44, tM: THREE.Matrix4) {
220+
function compareMat(jM: Jolt.RMat44, tM: THREE.Matrix4) {
221221
const threeArr = tM.toArray()
222222

223223
for (let c = 0; c < 4; c++) {
@@ -253,7 +253,7 @@ describe("Jolt to Three Conversions", () => {
253253
}
254254

255255
test("Jolt.Mat44 [Identity] -> THREE.Matrix4", () => {
256-
const tmp = new JOLT.Mat44()
256+
const tmp = new JOLT.RMat44()
257257
const joltMat = tmp.sIdentity()
258258
const threeMat = JoltMat44_ThreeMatrix4(joltMat)
259259

@@ -263,7 +263,7 @@ describe("Jolt to Three Conversions", () => {
263263
})
264264

265265
test("Jolt.Mat44 [+X Axis Rotation] -> THREE.Matrix4", () => {
266-
const joltMat = new JOLT.Mat44()
266+
const joltMat = new JOLT.RMat44()
267267
const c0 = new JOLT.Vec4(1, 0, 0, 0)
268268
const c1 = new JOLT.Vec4(0, 0, -1, 0)
269269
const c2 = new JOLT.Vec4(0, 1, 0, 0)
@@ -285,7 +285,7 @@ describe("Jolt to Three Conversions", () => {
285285
})
286286

287287
test("Jolt.Mat44 [-X Axis Rotation] -> THREE.Matrix4", () => {
288-
const joltMat = new JOLT.Mat44()
288+
const joltMat = new JOLT.RMat44()
289289
const c0 = new JOLT.Vec4(1, 0, 0, 0)
290290
const c1 = new JOLT.Vec4(0, 0, 1, 0)
291291
const c2 = new JOLT.Vec4(0, -1, 0, 0)
@@ -307,7 +307,7 @@ describe("Jolt to Three Conversions", () => {
307307
})
308308

309309
test("Jolt.Mat44 [X,Y Translation] -> THREE.Matrix4", () => {
310-
const joltMat = new JOLT.Mat44()
310+
const joltMat = new JOLT.RMat44()
311311
const c0 = new JOLT.Vec4(1, 0, 0, 0)
312312
const c1 = new JOLT.Vec4(0, 1, 0, 0)
313313
const c2 = new JOLT.Vec4(0, 0, 1, 0)

‎fission/src/ui/panels/DebugPanel.tsx‎

Lines changed: 7 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -14,11 +14,11 @@ import { usePanelControlContext } from "../PanelContext"
1414
import APS from "@/aps/APS"
1515
import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
1616
import JOLT from "@/util/loading/JoltSyncLoader"
17-
import Jolt from "@barclah/jolt-physics"
1817
import Label from "../components/Label"
1918
import { colorNameToVar } from "../ThemeContext"
2019
import { SynthesisIcons } from "../components/StyledComponents"
2120
import { Global_AddToast } from "../components/GlobalUIControls"
21+
import { JoltRVec3_JoltVec3 } from "@/util/TypeConversions"
2222

2323
const LabelStyled = styled(Label)({
2424
fontWeight: 700,
@@ -39,16 +39,19 @@ async function TestGodMode() {
3939
return
4040
}
4141
const robotPosition = World.PhysicsSystem.GetBody(rootNodeId).GetPosition()
42-
const [ghostBody, _ghostConstraint] = World.PhysicsSystem.CreateGodModeBody(rootNodeId, robotPosition as Jolt.Vec3)
42+
const [ghostBody, _ghostConstraint] = World.PhysicsSystem.CreateGodModeBody(
43+
rootNodeId,
44+
JoltRVec3_JoltVec3(robotPosition)
45+
)
4346

4447
// Move ghostBody to demonstrate godMode movement
4548
await new Promise(f => setTimeout(f, 1000))
4649
World.PhysicsSystem.SetBodyPosition(
4750
ghostBody.GetID(),
48-
new JOLT.Vec3(robotPosition.GetX(), robotPosition.GetY() + 2, robotPosition.GetZ())
51+
new JOLT.RVec3(robotPosition.GetX(), robotPosition.GetY() + 2, robotPosition.GetZ())
4952
)
5053
await new Promise(f => setTimeout(f, 1000))
51-
World.PhysicsSystem.SetBodyPosition(ghostBody.GetID(), new JOLT.Vec3(2, 2, 2))
54+
World.PhysicsSystem.SetBodyPosition(ghostBody.GetID(), new JOLT.RVec3(2, 2, 2))
5255
}
5356

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const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {

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