From ac625fcfbff69004831abd9cd555b65cd320a418 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 15:45:44 +0000
Subject: [PATCH 01/54] Added shape casts

Added cast for shapes using `shapeCast` and by configuring the shape. It also provide API for each primitive shapes:
- `boxCast(halfExtends, position, rotation)`
- `capsuleCast(radius, heigh, axis, position, rotation)`
- `coneCast(radius, heigh, axis, position, rotation)`
- `cylinderCast(radius, heigh, axis, position, rotation)`
- `sphereCast(radius, position, rotation)`

There is also a private function `_shapecast(shape, collision, rotation)` if you wish to use your own shape (Ammo.btCollisionShape).
Include full comments and docs. Include assertion of `Ammo.ConcreteContactResultCallback` for every public function. No assertion on private function to reduce function calls.
---
 src/framework/components/rigid-body/system.js | 258 +++++++++++++++++-
 1 file changed, 256 insertions(+), 2 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index d809ea9a229..ec174380e33 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -7,11 +7,15 @@ import { Vec3 } from '../../../core/math/vec3.js';
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
 
-import { BODYFLAG_NORESPONSE_OBJECT } from './constants.js';
+import { BODYFLAG_NORESPONSE_OBJECT, BODYGROUP_TRIGGER, BODYMASK_ALL, BODYSTATE_ACTIVE_TAG, BODYSTATE_DISABLE_DEACTIVATION } from './constants.js';
 import { RigidBodyComponent } from './component.js';
 import { RigidBodyComponentData } from './data.js';
 
-let ammoRayStart, ammoRayEnd;
+// Ammo.js variable for performance saving.
+let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform;
+
+// RigidBody for shape casts. Permanent to save performance.
+let shapecastBody;
 
 /**
  * Object holding the result of a successful raycast hit.
@@ -347,6 +351,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
             // Lazily create temp vars
             ammoRayStart = new Ammo.btVector3();
             ammoRayEnd = new Ammo.btVector3();
+            ammoVec3 = new Ammo.btVector3();
+            ammoQuat = new Ammo.btQuaternion();
+            ammoTransform = new Ammo.btTransform();
+
             RigidBodyComponent.onLibraryLoaded();
 
             this.contactPointPool = new ObjectPool(ContactPoint, 1);
@@ -552,6 +560,252 @@ class RigidBodyComponentSystem extends ComponentSystem {
         return results;
     }
 
+    /**
+     * Perform a collision check on the world and return all entities the shape hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {Object} shape - The shape to use for collision.
+     * @param {number} shape.axis - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} shape.halfExtends - The half-extents of the box in the x, y and z axes.
+     * @param {number} shape.height - The total height of the capsule, cylinder or cone from tip to tip.
+     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
+     * @param {number} shape.radius - The radius of the sphere, capsule, cylinder or cone.
+     * @param {Vec3} position - The world space position for the shape to be.
+     * @param {Vec3} rotation - The world space rotation for the shape to have.
+     * 
+     * @returns {RaycastResult[]} An array of shapecast hit results (0 length if there were no hits).
+     */
+    shapeCast(shape, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#shapeCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
+        if (shape.type === 'capsule') {
+            return this.capsuleCast(shape.radius, shape.height, shape.axis, position, rotation);
+        } else if (shape.type === 'cone') {
+            return this.coneCast(shape.radius, shape.height, shape.axis, position, rotation);
+        } else if (shape.type === 'cylinder') {
+            return this.cylinderCast(shape.radius, shape.height, shape.axis, position, rotation);
+        } else if (shape.type === 'sphere') {
+            return this.sphereCast(shape.radius, position, rotation);
+        } else {
+            return this.boxCast(shape.halfExtends, position, rotation);
+        }
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the box hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {Vec3} halfExtends - The half-extents of the box in the x, y and z axes.
+     * @param {Vec3} position - The world space position for the box to be.
+     * @param {Vec3} rotation - The world space rotation for the box to have.
+     * 
+     * @returns {RaycastResult[]} An array of boxcast hit results (0 length if there were no hits).
+     */
+    boxCast(halfExtends, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#boxCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
+        ammoVec3.setValue(halfExtends.x, halfExtends.y, halfExtends.z);
+        return this._shapecast(new Ammo.btSphereShape(ammoVec3), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the capsule hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {number} radius - The radius of the capsule.
+     * @param {number} height - The total height of the capsule from tip to tip.
+     * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} position - The world space position for the capsule to be.
+     * @param {Vec3} rotation - The world space rotation for the capsule to have.
+     * 
+     * @returns {RaycastResult[]} An array of capsulecast hit results (0 length if there were no hits).
+     */
+    capsuleCast(radius, height, axis, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#capsuleCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
+        if (axis === 0) {
+            axis = 'btCapsuleShapeX';
+        } else if (axis === 2) {
+            axis = 'btCapsuleShapeZ';
+        } else {
+            axis = 'btCapsuleShape';
+        }
+
+        return this._shapecast(new Ammo[axis](radius, height), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the cone hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {number} radius - The radius of the cone.
+     * @param {number} height - The total height of the cone from tip to tip.
+     * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} position - The world space position for the cone to be.
+     * @param {Vec3} rotation - The world space rotation for the cone to have.
+     * 
+     * @returns {RaycastResult[]} An array of conecast hit results (0 length if there were no hits).
+     */
+    coneCast(radius, height, axis, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#coneCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
+        if (axis === 0) {
+            axis = 'btConeShapeX';
+        } else if (axis === 2) {
+            axis = 'btConeShapeZ';
+        } else {
+            axis = 'btConeShape';
+        }
+
+        return this._shapecast(new Ammo[axis](radius, height), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the cylinder hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {number} radius - The radius of the cylinder.
+     * @param {number} height - The total height of the cylinder from tip to tip.
+     * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} position - The world space position for the cylinder to be.
+     * @param {Vec3} rotation - The world space rotation for the cylinder to have.
+     * 
+     * @returns {RaycastResult[]} An array of cylindercast hit results (0 length if there were no hits).
+     */
+    cylinderCast(radius, height, axis, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#cylinderCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
+        if (axis === 0) {
+            axis = 'btCylinderShapeX';
+        } else if (axis === 2) {
+            axis = 'btCylinderShapeZ';
+        } else {
+            axis = 'btCylinderShape';
+        }
+
+        return this._shapecast(new Ammo[axis](radius, height), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the sphere hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {number} radius - The radius of the sphere.
+     * @param {Vec3} position - The world space position for the sphere to be.
+     * @param {Vec3} rotation - The world space rotation for the sphere to have.
+     * 
+     * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
+     */
+    sphereCast(radius, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#sphereCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
+        return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the shape hits.
+     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * detected, the returned array will be of length 0.
+     * 
+     * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
+     * @param {Vec3} position - The world space position for the shape to be.
+     * @param {Vec3} rotation - The world space rotation for the shape to have.
+     * 
+     * @returns {RaycastResult[]}
+     * @private
+     */
+    _shapecast(shape, position, rotation) {
+        const results = [];
+
+        // Set proper position
+        if (position) {
+            ammoVec3.setValue(position.x, position.y, position.z);
+        } else {
+            ammoVec3.setValue(0, 0, 0);
+        }
+
+        // Set proper rotation.
+        if (rotation) {
+            ammoQuat.setEulerZYX(rotation.z, rotation.y, rotation.x);
+        } else {
+            ammoQuat.setEulerZYX(0, 0, 0);
+        }
+
+        // Assign position and rotation to transform.
+        ammoTransform.setIdentity();
+        ammoTransform.setOrigin(ammoVec3);
+        ammoTransform.setRotation(ammoQuat);
+
+        // We only initialize the shapecast body here so we don't have an extra body unless the user uses this function
+        if (!shapecastBody) {
+            shapecastBody = this.createBody(0, shape, ammoTransform);
+        }
+
+        // Add the body to the world.
+        this.addBody(shapecastBody, BODYGROUP_TRIGGER, BODYMASK_ALL);
+
+        // Make sure the body has proper shape, transform and is active.
+        shapecastBody.setCollisionShape(shape);
+        shapecastBody.setWorldTransform(ammoTransform);
+        shapecastBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
+
+        // Callback for the contactTest results.
+        let resultCallback = new Ammo.ConcreteContactResultCallback();
+
+        /**
+         * Add a contact collision result.
+         * 
+         * @param {number} cp Pointer for Contact Point
+         * @param {number} colObj0Wrap Pointer for first collision object's wrapper.
+         * @param {number} partId0 
+         * @param {number} index0
+         * @param {number} colObj1Wrap Pointer for second collision object's wrapper
+         * @param {number} partId1 
+         * @param {number} index1
+         */
+        resultCallback.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, p1, index1) {
+            // Retrieve collided entity.
+            const body1 = Ammo.castObject(Ammo.wrapPointer(colObj1Wrap, Ammo.btCollisionObjectWrapper).getCollisionObject(), Ammo.btRigidBody);
+
+            // Make sure there is an existing entity.
+            if (body1.entity) {
+                // Retrieve manifold point.
+                const manifold = Ammo.wrapPointer(cp, Ammo.btManifoldPoint);
+
+                // Make sure there is a collision
+                if (manifold.getDistance() < 0) {
+                    const point = manifold.get_m_positionWorldOnB();
+                    const normal = manifold.get_m_normalWorldOnB();
+
+                    // Push the result.
+                    results.push(new RaycastResult(
+                        body1.entity,
+                        new Vec3(point.x(), point.y(), point.z()),
+                        new Vec3(normal.x(), normal.y(), normal.z()),
+                    ));
+                }
+            }
+        };
+
+        // Check for contacts.
+        this.dynamicsWorld.contactTest(shapecastBody, resultCallback);
+
+        // Remove body from world and disable it.
+        this.removeBody(shapecastBody);
+        shapecastBody.forceActivationState(BODYSTATE_DISABLE_DEACTIVATION);
+
+        // Destroy unused variables for performance.
+        Ammo.destroy(resultCallback);
+
+        return results;
+    }
+
     /**
      * Stores a collision between the entity and other in the contacts map and returns true if it
      * is a new collision.

From 4fd6099676c5927a19ebb33a24f6bf2edd7ec465 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 15:59:43 +0000
Subject: [PATCH 02/54] Fixed ESLint

---
 src/framework/components/rigid-body/system.js | 54 ++++++++-----------
 1 file changed, 21 insertions(+), 33 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index ec174380e33..d64f28fd63f 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -564,8 +564,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * Perform a collision check on the world and return all entities the shape hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
-     * @param {Object} shape - The shape to use for collision.
+     *
+     * @param {object} shape - The shape to use for collision.
      * @param {number} shape.axis - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} shape.halfExtends - The half-extents of the box in the x, y and z axes.
      * @param {number} shape.height - The total height of the capsule, cylinder or cone from tip to tip.
@@ -573,7 +573,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} shape.radius - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3} rotation - The world space rotation for the shape to have.
-     * 
+     *
      * @returns {RaycastResult[]} An array of shapecast hit results (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
@@ -587,20 +587,20 @@ class RigidBodyComponentSystem extends ComponentSystem {
             return this.cylinderCast(shape.radius, shape.height, shape.axis, position, rotation);
         } else if (shape.type === 'sphere') {
             return this.sphereCast(shape.radius, position, rotation);
-        } else {
-            return this.boxCast(shape.halfExtends, position, rotation);
         }
+
+        return this.boxCast(shape.halfExtends, position, rotation);
     }
 
     /**
      * Perform a collision check on the world and return all entities the box hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
+     *
      * @param {Vec3} halfExtends - The half-extents of the box in the x, y and z axes.
      * @param {Vec3} position - The world space position for the box to be.
      * @param {Vec3} rotation - The world space rotation for the box to have.
-     * 
+     *
      * @returns {RaycastResult[]} An array of boxcast hit results (0 length if there were no hits).
      */
     boxCast(halfExtends, position, rotation) {
@@ -614,13 +614,13 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * Perform a collision check on the world and return all entities the capsule hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
+     *
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
      * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3} rotation - The world space rotation for the capsule to have.
-     * 
+     *
      * @returns {RaycastResult[]} An array of capsulecast hit results (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
@@ -641,13 +641,13 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * Perform a collision check on the world and return all entities the cone hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
+     *
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
      * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3} rotation - The world space rotation for the cone to have.
-     * 
+     *
      * @returns {RaycastResult[]} An array of conecast hit results (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
@@ -668,13 +668,13 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * Perform a collision check on the world and return all entities the cylinder hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
+     *
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
      * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cylinder to be.
      * @param {Vec3} rotation - The world space rotation for the cylinder to have.
-     * 
+     *
      * @returns {RaycastResult[]} An array of cylindercast hit results (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
@@ -695,11 +695,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * Perform a collision check on the world and return all entities the sphere hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
+     *
      * @param {number} radius - The radius of the sphere.
      * @param {Vec3} position - The world space position for the sphere to be.
      * @param {Vec3} rotation - The world space rotation for the sphere to have.
-     * 
+     *
      * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
      */
     sphereCast(radius, position, rotation) {
@@ -712,12 +712,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * Perform a collision check on the world and return all entities the shape hits.
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
-     * 
+     *
      * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3} rotation - The world space rotation for the shape to have.
-     * 
-     * @returns {RaycastResult[]}
+     *
+     * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
      * @private
      */
     _shapecast(shape, position, rotation) {
@@ -756,20 +756,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
         shapecastBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
 
         // Callback for the contactTest results.
-        let resultCallback = new Ammo.ConcreteContactResultCallback();
-
-        /**
-         * Add a contact collision result.
-         * 
-         * @param {number} cp Pointer for Contact Point
-         * @param {number} colObj0Wrap Pointer for first collision object's wrapper.
-         * @param {number} partId0 
-         * @param {number} index0
-         * @param {number} colObj1Wrap Pointer for second collision object's wrapper
-         * @param {number} partId1 
-         * @param {number} index1
-         */
-        resultCallback.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, p1, index1) {
+        const resultCallback = new Ammo.ConcreteContactResultCallback();
+        resultCallback.addSingleResult = function (cp, colObj0Wrap, partId0, index0, colObj1Wrap, p1, index1) {
             // Retrieve collided entity.
             const body1 = Ammo.castObject(Ammo.wrapPointer(colObj1Wrap, Ammo.btCollisionObjectWrapper).getCollisionObject(), Ammo.btRigidBody);
 
@@ -787,7 +775,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
                     results.push(new RaycastResult(
                         body1.entity,
                         new Vec3(point.x(), point.y(), point.z()),
-                        new Vec3(normal.x(), normal.y(), normal.z()),
+                        new Vec3(normal.x(), normal.y(), normal.z())
                     ));
                 }
             }

From c5f8fc87bbc8c154dc7edbea2389430f8f445939 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 16:20:50 +0000
Subject: [PATCH 03/54] Fixed halfExtends into halfExtents

---
 src/framework/components/rigid-body/system.js | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index d64f28fd63f..6dbbbf5f635 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -567,7 +567,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {object} shape - The shape to use for collision.
      * @param {number} shape.axis - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} shape.halfExtends - The half-extents of the box in the x, y and z axes.
+     * @param {Vec3} shape.halfExtents - The half-extents of the box in the x, y and z axes.
      * @param {number} shape.height - The total height of the capsule, cylinder or cone from tip to tip.
      * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
      * @param {number} shape.radius - The radius of the sphere, capsule, cylinder or cone.
@@ -589,7 +589,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             return this.sphereCast(shape.radius, position, rotation);
         }
 
-        return this.boxCast(shape.halfExtends, position, rotation);
+        return this.boxCast(shape.halfExtents, position, rotation);
     }
 
     /**
@@ -597,16 +597,16 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
      * detected, the returned array will be of length 0.
      *
-     * @param {Vec3} halfExtends - The half-extents of the box in the x, y and z axes.
+     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
      * @param {Vec3} position - The world space position for the box to be.
      * @param {Vec3} rotation - The world space rotation for the box to have.
      *
      * @returns {RaycastResult[]} An array of boxcast hit results (0 length if there were no hits).
      */
-    boxCast(halfExtends, position, rotation) {
+    boxCast(halfExtents, position, rotation) {
         Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#boxCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
-        ammoVec3.setValue(halfExtends.x, halfExtends.y, halfExtends.z);
+        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
         return this._shapecast(new Ammo.btSphereShape(ammoVec3), position, rotation);
     }
 

From 36d500a8859b4153a9b9805483f69267200b84a6 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 16:31:11 +0000
Subject: [PATCH 04/54] Added shapecast shape destroying

---
 src/framework/components/rigid-body/system.js | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 6dbbbf5f635..86ba8348e74 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -787,9 +787,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Remove body from world and disable it.
         this.removeBody(shapecastBody);
         shapecastBody.forceActivationState(BODYSTATE_DISABLE_DEACTIVATION);
+        shapecastBody.setCollisionShape(null);
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);
+        Ammo.destroy(shape);
 
         return results;
     }

From 0e51d63ef9b8db5e8e806f905d72dfbd9bd6f4cc Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 19:54:26 +0100
Subject: [PATCH 05/54] Reduced debug assets into one

---
 src/framework/components/rigid-body/system.js | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 86ba8348e74..8a5278624cf 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -577,8 +577,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of shapecast hit results (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#shapeCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
         if (shape.type === 'capsule') {
             return this.capsuleCast(shape.radius, shape.height, shape.axis, position, rotation);
         } else if (shape.type === 'cone') {
@@ -604,8 +602,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of boxcast hit results (0 length if there were no hits).
      */
     boxCast(halfExtents, position, rotation) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#boxCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
         return this._shapecast(new Ammo.btSphereShape(ammoVec3), position, rotation);
     }
@@ -624,8 +620,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of capsulecast hit results (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#capsuleCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
         if (axis === 0) {
             axis = 'btCapsuleShapeX';
         } else if (axis === 2) {
@@ -651,8 +645,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of conecast hit results (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#coneCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
         if (axis === 0) {
             axis = 'btConeShapeX';
         } else if (axis === 2) {
@@ -678,8 +670,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of cylindercast hit results (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#cylinderCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
         if (axis === 0) {
             axis = 'btCylinderShapeX';
         } else if (axis === 2) {
@@ -703,8 +693,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
      */
     sphereCast(radius, position, rotation) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#sphereCast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
         return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
     }
 
@@ -721,6 +709,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @private
      */
     _shapecast(shape, position, rotation) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapecast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+
         const results = [];
 
         // Set proper position

From 2ace6a355aff86b2ddce440b8668b562cf095d5c Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 19:57:03 +0100
Subject: [PATCH 06/54] Removed variable type change from shapeCasts

---
 src/framework/components/rigid-body/system.js | 30 +++++++++----------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 8a5278624cf..712e99c77bb 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -620,15 +620,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of capsulecast hit results (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
+        let fn = 'btCapsuleShape';
+
         if (axis === 0) {
-            axis = 'btCapsuleShapeX';
+            fn = 'btCapsuleShapeX';
         } else if (axis === 2) {
-            axis = 'btCapsuleShapeZ';
-        } else {
-            axis = 'btCapsuleShape';
+            fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapecast(new Ammo[axis](radius, height), position, rotation);
+        return this._shapecast(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -645,15 +645,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of conecast hit results (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
+        let fn = 'btConeShape';
+
         if (axis === 0) {
-            axis = 'btConeShapeX';
+            fn = 'btConeShapeX';
         } else if (axis === 2) {
-            axis = 'btConeShapeZ';
-        } else {
-            axis = 'btConeShape';
+            fn = 'btConeShapeZ';
         }
 
-        return this._shapecast(new Ammo[axis](radius, height), position, rotation);
+        return this._shapecast(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -670,15 +670,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of cylindercast hit results (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
+        let fn = 'btCylinderShape';
+
         if (axis === 0) {
-            axis = 'btCylinderShapeX';
+            fn = 'btCylinderShapeX';
         } else if (axis === 2) {
-            axis = 'btCylinderShapeZ';
-        } else {
-            axis = 'btCylinderShape';
+            fn = 'btCylinderShapeZ';
         }
 
-        return this._shapecast(new Ammo[axis](radius, height), position, rotation);
+        return this._shapecast(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**

From 2b1e039b4fdad1723deae2b496b9603a51c0368b Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 20:01:23 +0100
Subject: [PATCH 07/54] Fixed JSDoc for optional parameters

---
 src/framework/components/rigid-body/system.js | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 712e99c77bb..cda14e3df0c 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -571,8 +571,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} shape.height - The total height of the capsule, cylinder or cone from tip to tip.
      * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
      * @param {number} shape.radius - The radius of the sphere, capsule, cylinder or cone.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3} rotation - The world space rotation for the shape to have.
+     * @param {Vec3} [position] - The world space position for the shape to be.
+     * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
      * @returns {RaycastResult[]} An array of shapecast hit results (0 length if there were no hits).
      */
@@ -596,8 +596,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {Vec3} position - The world space position for the box to be.
-     * @param {Vec3} rotation - The world space rotation for the box to have.
+     * @param {Vec3} [position] - The world space position for the box to be.
+     * @param {Vec3} [rotation] - The world space rotation for the box to have.
      *
      * @returns {RaycastResult[]} An array of boxcast hit results (0 length if there were no hits).
      */
@@ -614,8 +614,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
      * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the capsule to be.
-     * @param {Vec3} rotation - The world space rotation for the capsule to have.
+     * @param {Vec3} [position] - The world space position for the capsule to be.
+     * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
      *
      * @returns {RaycastResult[]} An array of capsulecast hit results (0 length if there were no hits).
      */
@@ -639,8 +639,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
      * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the cone to be.
-     * @param {Vec3} rotation - The world space rotation for the cone to have.
+     * @param {Vec3} [position] - The world space position for the cone to be.
+     * @param {Vec3} [rotation] - The world space rotation for the cone to have.
      *
      * @returns {RaycastResult[]} An array of conecast hit results (0 length if there were no hits).
      */
@@ -664,8 +664,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
      * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the cylinder to be.
-     * @param {Vec3} rotation - The world space rotation for the cylinder to have.
+     * @param {Vec3} [position] - The world space position for the cylinder to be.
+     * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
      *
      * @returns {RaycastResult[]} An array of cylindercast hit results (0 length if there were no hits).
      */
@@ -687,8 +687,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the sphere.
-     * @param {Vec3} position - The world space position for the sphere to be.
-     * @param {Vec3} rotation - The world space rotation for the sphere to have.
+     * @param {Vec3} [position] - The world space position for the sphere to be.
+     * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
      *
      * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
      */
@@ -702,8 +702,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3} rotation - The world space rotation for the shape to have.
+     * @param {Vec3} [position] - The world space position for the shape to be.
+     * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
      * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
      * @private

From 0cdc17abfb25622b0de3a1cbabe9676c570c79f0 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 20:06:22 +0100
Subject: [PATCH 08/54] Added default position and rotation for _shapecast

---
 src/framework/components/rigid-body/system.js | 18 ++++--------------
 1 file changed, 4 insertions(+), 14 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index cda14e3df0c..53614eaf0ad 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -708,24 +708,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
      * @private
      */
-    _shapecast(shape, position, rotation) {
+    _shapecast(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {
         Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapecast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
 
-        // Set proper position
-        if (position) {
-            ammoVec3.setValue(position.x, position.y, position.z);
-        } else {
-            ammoVec3.setValue(0, 0, 0);
-        }
-
-        // Set proper rotation.
-        if (rotation) {
-            ammoQuat.setEulerZYX(rotation.z, rotation.y, rotation.x);
-        } else {
-            ammoQuat.setEulerZYX(0, 0, 0);
-        }
+        // Set proper position and rotation
+        ammoVec3.setValue(position.x, position.y, position.z);
+        ammoQuat.setEulerZYX(rotation.z, rotation.y, rotation.x);
 
         // Assign position and rotation to transform.
         ammoTransform.setIdentity();

From 052e8f8cfc9b7e660c71b929659d7aeda597f988 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 21:49:18 +0100
Subject: [PATCH 09/54] Removed shapecast body world addition

---
 src/framework/components/rigid-body/system.js | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 53614eaf0ad..9bf5ba7f42a 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -727,9 +727,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
             shapecastBody = this.createBody(0, shape, ammoTransform);
         }
 
-        // Add the body to the world.
-        this.addBody(shapecastBody, BODYGROUP_TRIGGER, BODYMASK_ALL);
-
         // Make sure the body has proper shape, transform and is active.
         shapecastBody.setCollisionShape(shape);
         shapecastBody.setWorldTransform(ammoTransform);
@@ -764,8 +761,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Check for contacts.
         this.dynamicsWorld.contactTest(shapecastBody, resultCallback);
 
-        // Remove body from world and disable it.
-        this.removeBody(shapecastBody);
+        // Disable body and remove shape.
         shapecastBody.forceActivationState(BODYSTATE_DISABLE_DEACTIVATION);
         shapecastBody.setCollisionShape(null);
 

From 7eff8dbc605e6c5f9e28662878723ef1b23cb873 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 21:57:39 +0100
Subject: [PATCH 10/54] Shape casts now return Entity array

---
 src/framework/components/rigid-body/system.js | 25 +++++++------------
 1 file changed, 9 insertions(+), 16 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 9bf5ba7f42a..6a70a1cc9ee 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -574,7 +574,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {RaycastResult[]} An array of shapecast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of shapecast hit results (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
         if (shape.type === 'capsule') {
@@ -599,7 +599,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the box to be.
      * @param {Vec3} [rotation] - The world space rotation for the box to have.
      *
-     * @returns {RaycastResult[]} An array of boxcast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of boxcast hit results (0 length if there were no hits).
      */
     boxCast(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
@@ -617,7 +617,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the capsule to be.
      * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
      *
-     * @returns {RaycastResult[]} An array of capsulecast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of capsulecast hit results (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
@@ -642,7 +642,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cone to be.
      * @param {Vec3} [rotation] - The world space rotation for the cone to have.
      *
-     * @returns {RaycastResult[]} An array of conecast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of conecast hit results (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
@@ -667,7 +667,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cylinder to be.
      * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
      *
-     * @returns {RaycastResult[]} An array of cylindercast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of cylindercast hit results (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
@@ -690,7 +690,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the sphere to be.
      * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
      *
-     * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of spherecast hit results (0 length if there were no hits).
      */
     sphereCast(radius, position, rotation) {
         return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
@@ -705,7 +705,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {RaycastResult[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {Entity[]} An array of spherecast hit results (0 length if there were no hits).
      * @private
      */
     _shapecast(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {
@@ -745,15 +745,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
                 // Make sure there is a collision
                 if (manifold.getDistance() < 0) {
-                    const point = manifold.get_m_positionWorldOnB();
-                    const normal = manifold.get_m_normalWorldOnB();
-
-                    // Push the result.
-                    results.push(new RaycastResult(
-                        body1.entity,
-                        new Vec3(point.x(), point.y(), point.z()),
-                        new Vec3(normal.x(), normal.y(), normal.z())
-                    ));
+                    // Push the entity.
+                    results.push(body1.entity);
                 }
             }
         };

From 5de3fef45a55e0edbcbfbcbc9ac8dea491596e5e Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 21:59:17 +0100
Subject: [PATCH 11/54] Removed unused variables

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 6a70a1cc9ee..e3eecdb37f7 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -7,7 +7,7 @@ import { Vec3 } from '../../../core/math/vec3.js';
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
 
-import { BODYFLAG_NORESPONSE_OBJECT, BODYGROUP_TRIGGER, BODYMASK_ALL, BODYSTATE_ACTIVE_TAG, BODYSTATE_DISABLE_DEACTIVATION } from './constants.js';
+import { BODYFLAG_NORESPONSE_OBJECT, BODYSTATE_ACTIVE_TAG, BODYSTATE_DISABLE_DEACTIVATION } from './constants.js';
 import { RigidBodyComponent } from './component.js';
 import { RigidBodyComponentData } from './data.js';
 

From 9133182cad6f17eb55e7010babc1feb59817b9b2 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 22:02:40 +0100
Subject: [PATCH 12/54] Added Entity import

---
 src/framework/components/rigid-body/system.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index e3eecdb37f7..d40870f4e8b 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -3,6 +3,7 @@ import { ObjectPool } from '../../../core/object-pool.js';
 import { Debug } from '../../../core/debug.js';
 
 import { Vec3 } from '../../../core/math/vec3.js';
+import { Entity } from '../../entity.js';
 
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';

From 1e4415efaf767b2e4f86b05678962da0c53b9ccc Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 22:06:07 +0100
Subject: [PATCH 13/54] Fixed Entity JSDoc

---
 src/framework/components/rigid-body/system.js | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index d40870f4e8b..a99c6f910eb 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -3,7 +3,6 @@ import { ObjectPool } from '../../../core/object-pool.js';
 import { Debug } from '../../../core/debug.js';
 
 import { Vec3 } from '../../../core/math/vec3.js';
-import { Entity } from '../../entity.js';
 
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
@@ -575,7 +574,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {Entity[]} An array of shapecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of shapecast hit results (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
         if (shape.type === 'capsule') {
@@ -600,7 +599,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the box to be.
      * @param {Vec3} [rotation] - The world space rotation for the box to have.
      *
-     * @returns {Entity[]} An array of boxcast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of boxcast hit results (0 length if there were no hits).
      */
     boxCast(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
@@ -618,7 +617,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the capsule to be.
      * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
      *
-     * @returns {Entity[]} An array of capsulecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of capsulecast hit results (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
@@ -643,7 +642,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cone to be.
      * @param {Vec3} [rotation] - The world space rotation for the cone to have.
      *
-     * @returns {Entity[]} An array of conecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of conecast hit results (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
@@ -668,7 +667,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cylinder to be.
      * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
      *
-     * @returns {Entity[]} An array of cylindercast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of cylindercast hit results (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
@@ -691,7 +690,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the sphere to be.
      * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
      *
-     * @returns {Entity[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of spherecast hit results (0 length if there were no hits).
      */
     sphereCast(radius, position, rotation) {
         return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
@@ -706,7 +705,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {Entity[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of spherecast hit results (0 length if there were no hits).
      * @private
      */
     _shapecast(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {

From 53cb43f8077bd3e6715e9ad3ecdf7a3ac84e4b14 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 22:35:17 +0100
Subject: [PATCH 14/54] Updated shape.type eval to switch

---
 src/framework/components/rigid-body/system.js | 21 ++++++++++---------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index a99c6f910eb..e374e304ef2 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -577,17 +577,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {import('../../entity.js').Entity[]} An array of shapecast hit results (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
-        if (shape.type === 'capsule') {
-            return this.capsuleCast(shape.radius, shape.height, shape.axis, position, rotation);
-        } else if (shape.type === 'cone') {
-            return this.coneCast(shape.radius, shape.height, shape.axis, position, rotation);
-        } else if (shape.type === 'cylinder') {
-            return this.cylinderCast(shape.radius, shape.height, shape.axis, position, rotation);
-        } else if (shape.type === 'sphere') {
-            return this.sphereCast(shape.radius, position, rotation);
+        switch (shape.type) {
+            case 'capsule':
+                return this.capsuleCast(shape.radius, shape.height, shape.axis, position, rotation);
+            case 'cone':
+                return this.coneCast(shape.radius, shape.height, shape.axis, position, rotation);
+            case 'cylinder':
+                return this.cylinderCast(shape.radius, shape.height, shape.axis, position, rotation);
+            case 'sphere':
+                return this.sphereCast(shape.radius, position, rotation);
+            default:
+                return this.boxCast(shape.halfExtents, position, rotation);
         }
-
-        return this.boxCast(shape.halfExtents, position, rotation);
     }
 
     /**

From b4f005b8ed2c4fd7c0028fa71a193c01dca94c94 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 3 Feb 2023 22:51:59 +0100
Subject: [PATCH 15/54] Fixed docs

---
 src/framework/components/rigid-body/system.js | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index e374e304ef2..859c91d323d 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -562,7 +562,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {object} shape - The shape to use for collision.
@@ -574,7 +574,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of shapecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this shapecast (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
         switch (shape.type) {
@@ -593,14 +593,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the box hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
      * @param {Vec3} [position] - The world space position for the box to be.
      * @param {Vec3} [rotation] - The world space rotation for the box to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of boxcast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this boxcast (0 length if there were no hits).
      */
     boxCast(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
@@ -609,7 +609,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the capsule hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the capsule.
@@ -618,7 +618,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the capsule to be.
      * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of capsulecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this capsulecast (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
@@ -634,7 +634,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the cone hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the cone.
@@ -643,7 +643,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cone to be.
      * @param {Vec3} [rotation] - The world space rotation for the cone to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of conecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this conecast (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
@@ -659,7 +659,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the cylinder hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the cylinder.
@@ -668,7 +668,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cylinder to be.
      * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of cylindercast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this cylindercast (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
@@ -684,14 +684,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the sphere hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the sphere.
      * @param {Vec3} [position] - The world space position for the sphere to be.
      * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this spherecast (0 length if there were no hits).
      */
     sphereCast(radius, position, rotation) {
         return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
@@ -699,14 +699,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link RaycastResult}, one for each hit. If no hits are
+     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this shapecast (0 length if there were no hits).
      * @private
      */
     _shapecast(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {

From 502994cdf0e2bd5d7d12699268a28b7e10d9e74c Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 10:15:41 +0000
Subject: [PATCH 16/54] Fix shape on boxCast

Co-authored-by: Hermann Rolfes <lama12345@gmail.com>
---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 859c91d323d..80e456eb092 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -604,7 +604,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      */
     boxCast(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapecast(new Ammo.btSphereShape(ammoVec3), position, rotation);
+        return this._shapecast(new Ammo.btBoxShape(ammoVec3), position, rotation);
     }
 
     /**

From c8adb464913290c6982a14105f42820e146b066c Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 11:31:58 +0000
Subject: [PATCH 17/54] Added HitResult to shapecast

---
 src/framework/components/rigid-body/system.js | 75 +++++++++++++++----
 1 file changed, 59 insertions(+), 16 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 80e456eb092..3646018ea9d 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -231,6 +231,42 @@ class ContactResult {
     }
 }
 
+/**
+ * Object holding the result of a hit on an Entity.
+ */
+class HitResult {
+    /**
+     * Create a new HitResult instance.
+     *
+     * @param {import('../../entity.js').Entity} entity - The entity that was hit.
+     * @param {Vec3} point - The point on the entity where the hit occurred, in world space.
+     * @param {Vec3} normal - The normal vector of the hit on the entity, in world space.
+     * @hideconstructor
+     */
+    constructor(entity, point, normal) {
+        /**
+         * The entity that was hit.
+         *
+         * @type {import('../../entity.js').Entity}
+         */
+        this.entity = entity;
+
+        /**
+         * The point on the entity where the hit occurred, in world space. When returned by a shapecast it is the first point found to collide, it does not have to be the closest.
+         *
+         * @type {Vec3}
+         */
+        this.point = point;
+
+        /**
+         * The normal vector of the hit on the entity, in world space.
+         *
+         * @type {Vec3}
+         */
+        this.normal = normal;
+    }
+}
+
 const _schema = ['enabled'];
 
 /**
@@ -562,7 +598,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {object} shape - The shape to use for collision.
@@ -574,7 +610,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this shapecast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapecast hit results (0 length if there were no hits).
      */
     shapeCast(shape, position, rotation) {
         switch (shape.type) {
@@ -593,14 +629,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the box hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
      * @param {Vec3} [position] - The world space position for the box to be.
      * @param {Vec3} [rotation] - The world space rotation for the box to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this boxcast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of boxcast hit results (0 length if there were no hits).
      */
     boxCast(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
@@ -609,7 +645,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the capsule hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the capsule.
@@ -618,7 +654,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the capsule to be.
      * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this capsulecast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of capsulecast hit results (0 length if there were no hits).
      */
     capsuleCast(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
@@ -634,7 +670,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the cone hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the cone.
@@ -643,7 +679,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cone to be.
      * @param {Vec3} [rotation] - The world space rotation for the cone to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this conecast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of conecast hit results (0 length if there were no hits).
      */
     coneCast(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
@@ -659,7 +695,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the cylinder hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the cylinder.
@@ -668,7 +704,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cylinder to be.
      * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this cylindercast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of cylindercast hit results (0 length if there were no hits).
      */
     cylinderCast(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
@@ -684,14 +720,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the sphere hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the sphere.
      * @param {Vec3} [position] - The world space position for the sphere to be.
      * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this spherecast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of spherecast hit results (0 length if there were no hits).
      */
     sphereCast(radius, position, rotation) {
         return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
@@ -699,14 +735,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link import('../../entity.js').Entity}. If no hits are
+     * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
      * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {import('../../entity.js').Entity[]} An array of entities hit by this shapecast (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapecast hit results (0 length if there were no hits).
      * @private
      */
     _shapecast(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {
@@ -746,8 +782,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
                 // Make sure there is a collision
                 if (manifold.getDistance() < 0) {
-                    // Push the entity.
-                    results.push(body1.entity);
+                    const point = manifold.get_m_positionWorldOnB();
+                    const normal = manifold.get_m_normalWorldOnB();
+
+                    // Push the result.
+                    results.push(new HitResult(
+                        body1.entity,
+                        new Vec3(point.x(), point.y(), point.z()),
+                        new Vec3(normal.x(), normal.y(), normal.z()),
+                    ));
                 }
             }
         };

From fd907d5d198ee2e40c961cc12b56906de62c4b9f Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 11:34:31 +0000
Subject: [PATCH 18/54] Fixed inconsistent documentation

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 3646018ea9d..5ebb6f9e5cb 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -239,7 +239,7 @@ class HitResult {
      * Create a new HitResult instance.
      *
      * @param {import('../../entity.js').Entity} entity - The entity that was hit.
-     * @param {Vec3} point - The point on the entity where the hit occurred, in world space.
+     * @param {Vec3} point - The point on the entity where the hit occurred, in world space. When returned by a shapecast it is the first point found to collide, it does not have to be the closest.
      * @param {Vec3} normal - The normal vector of the hit on the entity, in world space.
      * @hideconstructor
      */

From 9566b602290afcb333aa98d2f12827a0a228afe3 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 11:40:07 +0000
Subject: [PATCH 19/54] Fixed ESLint

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 5ebb6f9e5cb..9cfce6f455d 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -789,7 +789,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
                     results.push(new HitResult(
                         body1.entity,
                         new Vec3(point.x(), point.y(), point.z()),
-                        new Vec3(normal.x(), normal.y(), normal.z()),
+                        new Vec3(normal.x(), normal.y(), normal.z())
                     ));
                 }
             }

From 6c2d55b955ec2a38f0a93fff2988cc227bcc4e78 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 12:47:03 +0000
Subject: [PATCH 20/54] Changed naming from cast to test

---
 src/framework/components/rigid-body/system.js | 70 +++++++++----------
 1 file changed, 35 insertions(+), 35 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 9cfce6f455d..221b08c7bfa 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -14,8 +14,8 @@ import { RigidBodyComponentData } from './data.js';
 // Ammo.js variable for performance saving.
 let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform;
 
-// RigidBody for shape casts. Permanent to save performance.
-let shapecastBody;
+// RigidBody for shape tests. Permanent to save performance.
+let shapeTestBody;
 
 /**
  * Object holding the result of a successful raycast hit.
@@ -610,20 +610,20 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {HitResult[]} An array of shapecast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      */
-    shapeCast(shape, position, rotation) {
+    shapeTest(shape, position, rotation) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuleCast(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.capsuleTest(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cone':
-                return this.coneCast(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.coneTest(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cylinder':
-                return this.cylinderCast(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.cylinderTest(shape.radius, shape.height, shape.axis, position, rotation);
             case 'sphere':
-                return this.sphereCast(shape.radius, position, rotation);
+                return this.sphereTest(shape.radius, position, rotation);
             default:
-                return this.boxCast(shape.halfExtents, position, rotation);
+                return this.boxTest(shape.halfExtents, position, rotation);
         }
     }
 
@@ -636,11 +636,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the box to be.
      * @param {Vec3} [rotation] - The world space rotation for the box to have.
      *
-     * @returns {HitResult[]} An array of boxcast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
      */
-    boxCast(halfExtents, position, rotation) {
+    boxTest(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapecast(new Ammo.btBoxShape(ammoVec3), position, rotation);
+        return this._shapeTest(new Ammo.btBoxShape(ammoVec3), position, rotation);
     }
 
     /**
@@ -654,9 +654,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the capsule to be.
      * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
      *
-     * @returns {HitResult[]} An array of capsulecast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
      */
-    capsuleCast(radius, height, axis, position, rotation) {
+    capsuleTest(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
 
         if (axis === 0) {
@@ -665,7 +665,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapecast(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTest(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -679,9 +679,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cone to be.
      * @param {Vec3} [rotation] - The world space rotation for the cone to have.
      *
-     * @returns {HitResult[]} An array of conecast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
      */
-    coneCast(radius, height, axis, position, rotation) {
+    coneTest(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
 
         if (axis === 0) {
@@ -690,7 +690,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btConeShapeZ';
         }
 
-        return this._shapecast(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTest(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -704,9 +704,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the cylinder to be.
      * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
      *
-     * @returns {HitResult[]} An array of cylindercast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      */
-    cylinderCast(radius, height, axis, position, rotation) {
+    cylinderTest(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
 
         if (axis === 0) {
@@ -715,7 +715,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCylinderShapeZ';
         }
 
-        return this._shapecast(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTest(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -727,10 +727,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the sphere to be.
      * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
      *
-     * @returns {HitResult[]} An array of spherecast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
      */
-    sphereCast(radius, position, rotation) {
-        return this._shapecast(new Ammo.btSphereShape(radius), position, rotation);
+    sphereTest(radius, position, rotation) {
+        return this._shapeTest(new Ammo.btSphereShape(radius), position, rotation);
     }
 
     /**
@@ -742,10 +742,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} [position] - The world space position for the shape to be.
      * @param {Vec3} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {HitResult[]} An array of shapecast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * @private
      */
-    _shapecast(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {
+    _shapeTest(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {
         Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapecast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
@@ -759,15 +759,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
         ammoTransform.setOrigin(ammoVec3);
         ammoTransform.setRotation(ammoQuat);
 
-        // We only initialize the shapecast body here so we don't have an extra body unless the user uses this function
-        if (!shapecastBody) {
-            shapecastBody = this.createBody(0, shape, ammoTransform);
+        // We only initialize the shapeTast body here so we don't have an extra body unless the user uses this function
+        if (!shapeTestBody) {
+            shapeTestBody = this.createBody(0, shape, ammoTransform);
         }
 
         // Make sure the body has proper shape, transform and is active.
-        shapecastBody.setCollisionShape(shape);
-        shapecastBody.setWorldTransform(ammoTransform);
-        shapecastBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
+        shapeTestBody.setCollisionShape(shape);
+        shapeTestBody.setWorldTransform(ammoTransform);
+        shapeTestBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
 
         // Callback for the contactTest results.
         const resultCallback = new Ammo.ConcreteContactResultCallback();
@@ -796,11 +796,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
         };
 
         // Check for contacts.
-        this.dynamicsWorld.contactTest(shapecastBody, resultCallback);
+        this.dynamicsWorld.contactTest(shapeTestBody, resultCallback);
 
         // Disable body and remove shape.
-        shapecastBody.forceActivationState(BODYSTATE_DISABLE_DEACTIVATION);
-        shapecastBody.setCollisionShape(null);
+        shapeTestBody.forceActivationState(BODYSTATE_DISABLE_DEACTIVATION);
+        shapeTestBody.setCollisionShape(null);
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);

From 9027bf3c061490fcb24b6bd4cadf42b5229fed5d Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 12:53:00 +0000
Subject: [PATCH 21/54] Added Quat rotation for shape tests

---
 src/framework/components/rigid-body/system.js | 25 ++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 221b08c7bfa..79ccb8f069f 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -3,6 +3,7 @@ import { ObjectPool } from '../../../core/object-pool.js';
 import { Debug } from '../../../core/debug.js';
 
 import { Vec3 } from '../../../core/math/vec3.js';
+import { Quat } from '../../../core/math/quat.js';
 
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
@@ -608,7 +609,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
      * @param {number} shape.radius - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} [position] - The world space position for the shape to be.
-     * @param {Vec3} [rotation] - The world space rotation for the shape to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      */
@@ -634,7 +635,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
      * @param {Vec3} [position] - The world space position for the box to be.
-     * @param {Vec3} [rotation] - The world space rotation for the box to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
      */
@@ -652,7 +653,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} height - The total height of the capsule from tip to tip.
      * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [position] - The world space position for the capsule to be.
-     * @param {Vec3} [rotation] - The world space rotation for the capsule to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      *
      * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
      */
@@ -677,7 +678,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} height - The total height of the cone from tip to tip.
      * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [position] - The world space position for the cone to be.
-     * @param {Vec3} [rotation] - The world space rotation for the cone to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      *
      * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
      */
@@ -702,7 +703,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} height - The total height of the cylinder from tip to tip.
      * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [position] - The world space position for the cylinder to be.
-     * @param {Vec3} [rotation] - The world space rotation for the cylinder to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      */
@@ -725,7 +726,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the sphere.
      * @param {Vec3} [position] - The world space position for the sphere to be.
-     * @param {Vec3} [rotation] - The world space rotation for the sphere to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
      */
@@ -740,7 +741,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} [position] - The world space position for the shape to be.
-     * @param {Vec3} [rotation] - The world space rotation for the shape to have.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * @private
@@ -750,9 +751,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
         const results = [];
 
-        // Set proper position and rotation
+        // Set proper position
         ammoVec3.setValue(position.x, position.y, position.z);
-        ammoQuat.setEulerZYX(rotation.z, rotation.y, rotation.x);
+        
+        // Set proper rotation
+        if (rotation instanceof Quat) {
+            ammoQuat.setValue(rotation.x, rotation.y, rotation.z, rotation.w);
+        } else {
+            ammoQuat.setEulerZYX(rotation.z, rotation.y, rotation.x);
+        }
 
         // Assign position and rotation to transform.
         ammoTransform.setIdentity();

From c294abbeb974161b2c4fd7846328440bf197a488 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 12:55:15 +0000
Subject: [PATCH 22/54] Fixed ESLint

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 79ccb8f069f..7319dc8d3e0 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -753,7 +753,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
         // Set proper position
         ammoVec3.setValue(position.x, position.y, position.z);
-        
+
         // Set proper rotation
         if (rotation instanceof Quat) {
             ammoQuat.setValue(rotation.x, rotation.y, rotation.z, rotation.w);

From 845fb0a9f161a56726c1bb1c46f3245ffe85341d Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 17:11:20 +0000
Subject: [PATCH 23/54] Added sphereCast and boxCast

---
 src/framework/components/rigid-body/system.js | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 7319dc8d3e0..e311fd46d5e 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -4,6 +4,7 @@ import { Debug } from '../../../core/debug.js';
 
 import { Vec3 } from '../../../core/math/vec3.js';
 import { Quat } from '../../../core/math/quat.js';
+import { Mat4 } from '../../../core/math/mat4';
 
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
@@ -17,6 +18,8 @@ let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform;
 
 // RigidBody for shape tests. Permanent to save performance.
 let shapeTestBody;
+const shapecastRotation = new Quat();
+const shapecastRotationMatrix = new Mat4();
 
 /**
  * Object holding the result of a successful raycast hit.
@@ -597,6 +600,56 @@ class RigidBodyComponentSystem extends ComponentSystem {
         return results;
     }
 
+    /**
+     * Perform a collision check on the world and return all entities the box hits.
+     * It returns an array of {@link HitResult}. If no hits are
+     * detected, the returned array will be of length 0.
+     *
+     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes. Cast distance will be added to Z-Axis.
+     * @param {Vec3} start - The world space point where the box starts.
+     * @param {Vec3} end - The world space point where the box ends.
+     *
+     * @returns {HitResult[]} An array of boxCast hit results (0 length if there were no hits).
+     */
+    boxCast(halfExtents, start, end) {
+        // Sweeping
+        halfExtents.z += start.distance(end) / 2;
+
+        // Find rotation
+        shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);
+        shapecastRotation.setFromMat4(shapecastRotationMatrix);
+
+        // Transform start vector to make it beween initial start and end.
+        start.add(end).divScalar(2);
+
+        return this._shapeTest(new Ammo.btBoxShape(halfExtents), start, shapecastRotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the sphere hits.
+     * It returns an array of {@link HitResult}. If no hits are
+     * detected, the returned array will be of length 0.
+     *
+     * @param {number} radius - The radius for the sphere.
+     * @param {Vec3} start - The world space point for the center of the sphere at the beginning of the cast.
+     * @param {Vec3} end - The world space point for the center of the sphere at the end of the cast.
+     *
+     * @returns {HitResult[]} An array of sphereCast hit results (0 length if there were no hits).
+     */
+    sphereCast(radius, start, end) {
+        // Sweeping
+        const height = start.distance(end);
+
+        // Find rotation
+        shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);
+        shapecastRotation.setFromMat4(shapecastRotationMatrix);
+
+        // Transform start vector to make it beween initial start and end.
+        start.add(end).divScalar(2);
+
+        return this._shapeTest(new Ammo.btCapsuleShapeZ(radius, height), start, shapecastRotation);
+    }
+
     /**
      * Perform a collision check on the world and return all entities the shape hits.
      * It returns an array of {@link HitResult}. If no hits are

From 34d83b3bd8277e074d1f8647fa2262a1433eec3e Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 17:13:40 +0000
Subject: [PATCH 24/54] Fixed typo

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index e311fd46d5e..650d462f42e 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -4,7 +4,7 @@ import { Debug } from '../../../core/debug.js';
 
 import { Vec3 } from '../../../core/math/vec3.js';
 import { Quat } from '../../../core/math/quat.js';
-import { Mat4 } from '../../../core/math/mat4';
+import { Mat4 } from '../../../core/math/mat4.js';
 
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';

From fcb70ea5706f81d4c7bb9f9e939c11919ae00c52 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 4 Feb 2023 20:18:34 +0100
Subject: [PATCH 25/54] Fixed sphereCast length

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 650d462f42e..eddbfd1576d 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -638,7 +638,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      */
     sphereCast(radius, start, end) {
         // Sweeping
-        const height = start.distance(end);
+        const height = start.distance(end) + radius;
 
         // Find rotation
         shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);

From 62136857b02ff8f6ee09396b7293b7a23b1a3eb8 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 5 Feb 2023 10:18:58 +0000
Subject: [PATCH 26/54] Added vector for shapecast position

---
 src/framework/components/rigid-body/system.js | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index eddbfd1576d..54c471527f6 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -18,6 +18,7 @@ let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform;
 
 // RigidBody for shape tests. Permanent to save performance.
 let shapeTestBody;
+const shapecastPosition = new Vec3();
 const shapecastRotation = new Quat();
 const shapecastRotationMatrix = new Mat4();
 
@@ -620,9 +621,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
         shapecastRotation.setFromMat4(shapecastRotationMatrix);
 
         // Transform start vector to make it beween initial start and end.
-        start.add(end).divScalar(2);
+        shapecastPosition.lerp(start, end, 0.5);
 
-        return this._shapeTest(new Ammo.btBoxShape(halfExtents), start, shapecastRotation);
+        return this._shapeTest(new Ammo.btBoxShape(halfExtents), shapecast, shapecastRotation);
     }
 
     /**
@@ -645,9 +646,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
         shapecastRotation.setFromMat4(shapecastRotationMatrix);
 
         // Transform start vector to make it beween initial start and end.
-        start.add(end).divScalar(2);
+        shapecastPosition.lerp(start, end, 0.5);
 
-        return this._shapeTest(new Ammo.btCapsuleShapeZ(radius, height), start, shapecastRotation);
+        return this._shapeTest(new Ammo.btCapsuleShapeZ(radius, height), shapecastPosition, shapecastRotation);
     }
 
     /**

From a4440693c28a6720ee506a3220487969e16c59fd Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 5 Feb 2023 10:20:58 +0000
Subject: [PATCH 27/54] Fixed boxCast shape halfExtents

---
 src/framework/components/rigid-body/system.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 54c471527f6..bb35789576b 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -614,7 +614,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      */
     boxCast(halfExtents, start, end) {
         // Sweeping
-        halfExtents.z += start.distance(end) / 2;
+        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z + start.distance(end) / 2);
 
         // Find rotation
         shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);
@@ -623,7 +623,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Transform start vector to make it beween initial start and end.
         shapecastPosition.lerp(start, end, 0.5);
 
-        return this._shapeTest(new Ammo.btBoxShape(halfExtents), shapecast, shapecastRotation);
+        return this._shapeTest(new Ammo.btBoxShape(ammoVec3), shapecast, shapecastRotation);
     }
 
     /**

From 3ae5522f43788deb955ae64c065b1bb8d40caf8c Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 5 Feb 2023 10:22:35 +0000
Subject: [PATCH 28/54] Fixed typo

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index bb35789576b..3a91e9bb54a 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -623,7 +623,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Transform start vector to make it beween initial start and end.
         shapecastPosition.lerp(start, end, 0.5);
 
-        return this._shapeTest(new Ammo.btBoxShape(ammoVec3), shapecast, shapecastRotation);
+        return this._shapeTest(new Ammo.btBoxShape(ammoVec3), shapecastPosition, shapecastRotation);
     }
 
     /**

From dc69842d0ae6d8157b1af86c58d7e92fed57ee47 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 5 Feb 2023 12:11:04 +0000
Subject: [PATCH 29/54] Renamed boxCastAll and sphereCastAll

---
 src/framework/components/rigid-body/system.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 3a91e9bb54a..a537bd5e897 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -612,7 +612,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of boxCast hit results (0 length if there were no hits).
      */
-    boxCast(halfExtents, start, end) {
+    boxCastAll(halfExtents, start, end) {
         // Sweeping
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z + start.distance(end) / 2);
 
@@ -637,7 +637,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of sphereCast hit results (0 length if there were no hits).
      */
-    sphereCast(radius, start, end) {
+    sphereCastAll(radius, start, end) {
         // Sweeping
         const height = start.distance(end) + radius;
 

From 2d8149a85cef5befc0808574c79dd4f1ca1dc752 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 5 Feb 2023 19:56:49 +0100
Subject: [PATCH 30/54] Fixed sphereCast length

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index a537bd5e897..e899b4b65d0 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -639,7 +639,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      */
     sphereCastAll(radius, start, end) {
         // Sweeping
-        const height = start.distance(end) + radius;
+        const height = start.distance(end) + radius * 2;
 
         // Find rotation
         shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);

From 8134d3fceedb35227ffdb1c3c339d8aab437331d Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 5 Feb 2023 19:57:28 +0100
Subject: [PATCH 31/54] Removed boxCastAll

---
 src/framework/components/rigid-body/system.js | 25 -------------------
 1 file changed, 25 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index e899b4b65d0..0dad8c62c5a 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -601,31 +601,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
         return results;
     }
 
-    /**
-     * Perform a collision check on the world and return all entities the box hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes. Cast distance will be added to Z-Axis.
-     * @param {Vec3} start - The world space point where the box starts.
-     * @param {Vec3} end - The world space point where the box ends.
-     *
-     * @returns {HitResult[]} An array of boxCast hit results (0 length if there were no hits).
-     */
-    boxCastAll(halfExtents, start, end) {
-        // Sweeping
-        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z + start.distance(end) / 2);
-
-        // Find rotation
-        shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);
-        shapecastRotation.setFromMat4(shapecastRotationMatrix);
-
-        // Transform start vector to make it beween initial start and end.
-        shapecastPosition.lerp(start, end, 0.5);
-
-        return this._shapeTest(new Ammo.btBoxShape(ammoVec3), shapecastPosition, shapecastRotation);
-    }
-
     /**
      * Perform a collision check on the world and return all entities the sphere hits.
      * It returns an array of {@link HitResult}. If no hits are

From 87451da0ffd4adc5d129427c287c5edd43004773 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Mon, 6 Feb 2023 08:13:43 +0100
Subject: [PATCH 32/54] Removed shapetest body deactivation

---
 src/framework/components/rigid-body/system.js | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 0dad8c62c5a..d834faabc7b 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -9,7 +9,7 @@ import { Mat4 } from '../../../core/math/mat4.js';
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
 
-import { BODYFLAG_NORESPONSE_OBJECT, BODYSTATE_ACTIVE_TAG, BODYSTATE_DISABLE_DEACTIVATION } from './constants.js';
+import { BODYFLAG_NORESPONSE_OBJECT, BODYSTATE_ACTIVE_TAG } from './constants.js';
 import { RigidBodyComponent } from './component.js';
 import { RigidBodyComponentData } from './data.js';
 
@@ -834,8 +834,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Check for contacts.
         this.dynamicsWorld.contactTest(shapeTestBody, resultCallback);
 
-        // Disable body and remove shape.
-        shapeTestBody.forceActivationState(BODYSTATE_DISABLE_DEACTIVATION);
+        // Remove body shape.
         shapeTestBody.setCollisionShape(null);
 
         // Destroy unused variables for performance.

From 73b10a7422c1262550ae75e52dcc9d28a3c772a5 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Wed, 8 Feb 2023 08:48:45 +0100
Subject: [PATCH 33/54] Rename shape casts into shapeCastAll

---
 src/framework/components/rigid-body/system.js | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index d834faabc7b..2068becbdb8 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -642,18 +642,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      */
-    shapeTest(shape, position, rotation) {
+    shapeTestAll(shape, position, rotation) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuleTest(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.capsuleTestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cone':
-                return this.coneTest(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.coneTestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cylinder':
-                return this.cylinderTest(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.cylinderTestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'sphere':
-                return this.sphereTest(shape.radius, position, rotation);
+                return this.sphereTestAll(shape.radius, position, rotation);
             default:
-                return this.boxTest(shape.halfExtents, position, rotation);
+                return this.boxTestAll(shape.halfExtents, position, rotation);
         }
     }
 
@@ -668,9 +668,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
      */
-    boxTest(halfExtents, position, rotation) {
+    boxTestAll(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapeTest(new Ammo.btBoxShape(ammoVec3), position, rotation);
+        return this._shapeTestAll(new Ammo.btBoxShape(ammoVec3), position, rotation);
     }
 
     /**
@@ -686,7 +686,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
      */
-    capsuleTest(radius, height, axis, position, rotation) {
+    capsuleTestAll(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
 
         if (axis === 0) {
@@ -695,7 +695,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapeTest(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -711,7 +711,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
      */
-    coneTest(radius, height, axis, position, rotation) {
+    coneTestAll(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
 
         if (axis === 0) {
@@ -720,7 +720,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btConeShapeZ';
         }
 
-        return this._shapeTest(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -736,7 +736,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      */
-    cylinderTest(radius, height, axis, position, rotation) {
+    cylinderTestAll(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
 
         if (axis === 0) {
@@ -745,7 +745,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCylinderShapeZ';
         }
 
-        return this._shapeTest(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -759,8 +759,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
      */
-    sphereTest(radius, position, rotation) {
-        return this._shapeTest(new Ammo.btSphereShape(radius), position, rotation);
+    sphereTestAll(radius, position, rotation) {
+        return this._shapeTestAll(new Ammo.btSphereShape(radius), position, rotation);
     }
 
     /**

From d6d4539aab1596e63a467a86a576c2d43207d599 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 11 Feb 2023 01:30:28 +0100
Subject: [PATCH 34/54] Changed RaycastResult into HitResult

---
 src/framework/components/rigid-body/system.js | 56 ++++---------------
 1 file changed, 10 insertions(+), 46 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 2068becbdb8..40da007539c 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -23,11 +23,11 @@ const shapecastRotation = new Quat();
 const shapecastRotationMatrix = new Mat4();
 
 /**
- * Object holding the result of a successful raycast hit.
+ * Object holding the result of a successful hit.
  */
-class RaycastResult {
+class HitResult {
     /**
-     * Create a new RaycastResult instance.
+     * Create a new HitResult instance.
      *
      * @param {import('../../entity.js').Entity} entity - The entity that was hit.
      * @param {Vec3} point - The point at which the ray hit the entity in world space.
@@ -236,42 +236,6 @@ class ContactResult {
     }
 }
 
-/**
- * Object holding the result of a hit on an Entity.
- */
-class HitResult {
-    /**
-     * Create a new HitResult instance.
-     *
-     * @param {import('../../entity.js').Entity} entity - The entity that was hit.
-     * @param {Vec3} point - The point on the entity where the hit occurred, in world space. When returned by a shapecast it is the first point found to collide, it does not have to be the closest.
-     * @param {Vec3} normal - The normal vector of the hit on the entity, in world space.
-     * @hideconstructor
-     */
-    constructor(entity, point, normal) {
-        /**
-         * The entity that was hit.
-         *
-         * @type {import('../../entity.js').Entity}
-         */
-        this.entity = entity;
-
-        /**
-         * The point on the entity where the hit occurred, in world space. When returned by a shapecast it is the first point found to collide, it does not have to be the closest.
-         *
-         * @type {Vec3}
-         */
-        this.point = point;
-
-        /**
-         * The normal vector of the hit on the entity, in world space.
-         *
-         * @type {Vec3}
-         */
-        this.normal = normal;
-    }
-}
-
 const _schema = ['enabled'];
 
 /**
@@ -514,11 +478,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
     /**
      * Raycast the world and return the first entity the ray hits. Fire a ray into the world from
      * start to end, if the ray hits an entity with a collision component, it returns a
-     * {@link RaycastResult}, otherwise returns null.
+     * {@link HitResult}, otherwise returns null.
      *
      * @param {Vec3} start - The world space point where the ray starts.
      * @param {Vec3} end - The world space point where the ray ends.
-     * @returns {RaycastResult} The result of the raycasting or null if there was no hit.
+     * @returns {HitResult} The result of the raycasting or null if there was no hit.
      */
     raycastFirst(start, end) {
         let result = null;
@@ -535,7 +499,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 const point = rayCallback.get_m_hitPointWorld();
                 const normal = rayCallback.get_m_hitNormalWorld();
 
-                result = new RaycastResult(
+                result = new HitResult(
                     body.entity,
                     new Vec3(point.x(), point.y(), point.z()),
                     new Vec3(normal.x(), normal.y(), normal.z())
@@ -558,12 +522,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
     /**
      * Raycast the world and return all entities the ray hits. It returns an array of
-     * {@link RaycastResult}, one for each hit. If no hits are detected, the returned array will be
+     * {@link HitResult}, one for each hit. If no hits are detected, the returned array will be
      * of length 0.
      *
      * @param {Vec3} start - The world space point where the ray starts.
      * @param {Vec3} end - The world space point where the ray ends.
-     * @returns {RaycastResult[]} An array of raycast hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of raycast hit results (0 length if there were no hits).
      */
     raycastAll(start, end) {
         Debug.assert(Ammo.AllHitsRayResultCallback, 'pc.RigidBodyComponentSystem#raycastAll: Your version of ammo.js does not expose Ammo.AllHitsRayResultCallback. Update it to latest.');
@@ -586,7 +550,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 if (body) {
                     const point = points.at(i);
                     const normal = normals.at(i);
-                    const result = new RaycastResult(
+                    const result = new HitResult(
                         body.entity,
                         new Vec3(point.x(), point.y(), point.z()),
                         new Vec3(normal.x(), normal.y(), normal.z())
@@ -1233,4 +1197,4 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
 Component._buildAccessors(RigidBodyComponent.prototype, _schema);
 
-export { ContactPoint, ContactResult, RaycastResult, RigidBodyComponentSystem, SingleContactResult };
+export { ContactPoint, ContactResult, HitResult, RigidBodyComponentSystem, SingleContactResult };

From a9ea632ea96f6117dcacc913f21e16f8da3322fd Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 11 Feb 2023 01:31:50 +0100
Subject: [PATCH 35/54] Changed RaycastResult into HitResult

---
 src/index.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/index.js b/src/index.js
index 113756ae514..44df4f26b02 100644
--- a/src/index.js
+++ b/src/index.js
@@ -200,7 +200,7 @@ export { RenderComponent } from './framework/components/render/component.js';
 export { RenderComponentSystem } from './framework/components/render/system.js';
 export * from './framework/components/rigid-body/constants.js';
 export { RigidBodyComponent } from './framework/components/rigid-body/component.js';
-export { RigidBodyComponentSystem, ContactPoint, ContactResult, RaycastResult, SingleContactResult } from './framework/components/rigid-body/system.js';
+export { RigidBodyComponentSystem, ContactPoint, ContactResult, HitResult, SingleContactResult } from './framework/components/rigid-body/system.js';
 export { SceneRegistry } from './framework/scene-registry.js';
 export { SceneRegistryItem } from './framework/scene-registry-item.js';
 export * from './framework/components/screen/constants.js';

From db8274b233770f45f9a1d5d99ba94446a191d11d Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 11 Feb 2023 01:33:12 +0100
Subject: [PATCH 36/54] Changed RaycastResult into HitResult

---
 examples/src/examples/physics/raycast.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/src/examples/physics/raycast.tsx b/examples/src/examples/physics/raycast.tsx
index e30020c5f54..669f61852f3 100644
--- a/examples/src/examples/physics/raycast.tsx
+++ b/examples/src/examples/physics/raycast.tsx
@@ -137,7 +137,7 @@ class RaycastExample {
                     app.drawLine(start, end, white);
 
                     const results = app.systems.rigidbody.raycastAll(start, end);
-                    results.forEach(function (result: pc.RaycastResult) {
+                    results.forEach(function (result: pc.HitResult) {
                         result.entity.render.material = red;
 
                         // Render the normal on the surface from the hit point

From faf1f0075759c440bfce3ed5d66f5599fb85a672 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sat, 11 Feb 2023 01:36:08 +0100
Subject: [PATCH 37/54] Deprecated RaycastResult

---
 src/deprecated/deprecated.js | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/deprecated/deprecated.js b/src/deprecated/deprecated.js
index ba4a99d8d6b..763f8edb7ff 100644
--- a/src/deprecated/deprecated.js
+++ b/src/deprecated/deprecated.js
@@ -112,7 +112,7 @@ import {
     BODYTYPE_DYNAMIC, BODYTYPE_KINEMATIC, BODYTYPE_STATIC
 } from '../framework/components/rigid-body/constants.js';
 import { RigidBodyComponent } from '../framework/components/rigid-body/component.js';
-import { RigidBodyComponentSystem } from '../framework/components/rigid-body/system.js';
+import { RigidBodyComponentSystem, HitResult } from '../framework/components/rigid-body/system.js';
 import { basisInitialize } from '../framework/handlers/basis.js';
 
 // CORE
@@ -1047,6 +1047,7 @@ Object.defineProperty(MouseEvent.prototype, 'wheel', {
 
 // FRAMEWORK
 
+export const RaycastResult = HitResult;
 export const RIGIDBODY_TYPE_STATIC = BODYTYPE_STATIC;
 export const RIGIDBODY_TYPE_DYNAMIC = BODYTYPE_DYNAMIC;
 export const RIGIDBODY_TYPE_KINEMATIC = BODYTYPE_KINEMATIC;

From e084be1813a4bc347a0361e4e3b8ed64fd15c242 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Wed, 22 Feb 2023 09:48:38 +0000
Subject: [PATCH 38/54] Added shapeCastFirst functions

---
 src/framework/components/rigid-body/system.js | 260 +++++++++++++++---
 1 file changed, 225 insertions(+), 35 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 40da007539c..bc9f077f151 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -4,7 +4,6 @@ import { Debug } from '../../../core/debug.js';
 
 import { Vec3 } from '../../../core/math/vec3.js';
 import { Quat } from '../../../core/math/quat.js';
-import { Mat4 } from '../../../core/math/mat4.js';
 
 import { Component } from '../component.js';
 import { ComponentSystem } from '../system.js';
@@ -14,13 +13,10 @@ import { RigidBodyComponent } from './component.js';
 import { RigidBodyComponentData } from './data.js';
 
 // Ammo.js variable for performance saving.
-let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform;
+let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform, ammoTransform2;
 
 // RigidBody for shape tests. Permanent to save performance.
 let shapeTestBody;
-const shapecastPosition = new Vec3();
-const shapecastRotation = new Quat();
-const shapecastRotationMatrix = new Mat4();
 
 /**
  * Object holding the result of a successful hit.
@@ -359,6 +355,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             ammoVec3 = new Ammo.btVector3();
             ammoQuat = new Ammo.btQuaternion();
             ammoTransform = new Ammo.btTransform();
+            ammoTransform2 = new Ammo.btTransform();
 
             RigidBodyComponent.onLibraryLoaded();
 
@@ -566,28 +563,218 @@ class RigidBodyComponentSystem extends ComponentSystem {
     }
 
     /**
-     * Perform a collision check on the world and return all entities the sphere hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
+     * Perform a shape casting on the world and return the first entity the shape hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     *
+     * @param {object} shape - The shape to use for sweep test.
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
+     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
+     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
+     * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     *
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     */
+    shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
+        switch (shape.type) {
+            case 'capsule':
+                return this.capsuleCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+            case 'cone':
+                return this.coneCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+            case 'cylinder':
+                return this.cylinderCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+            case 'sphere':
+                return this.sphereCastFirst(shape.radius, startPosition, endPosition);
+            default:
+                return this.boxCastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation);
+        }
+    }
+
+    /**
+     * Perform a shape casting on the world and return the first entity the box hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     *
+     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     *
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     */
+    boxCastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation) {
+        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
+        return this._shapeCastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation);
+    }
+
+    /**
+     * Perform a shape casting on the world and return the first entity the capsule hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     *
+     * @param {number} radius - The radius of the capsule.
+     * @param {number} height - The total height of the capsule from tip to tip.
+     * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     *
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     */
+    capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+        let fn = 'btCapsuleShape';
+
+        if (axis === 0) {
+            fn = 'btCapsuleShapeX';
+        } else if (axis === 2) {
+            fn = 'btCapsuleShapeZ';
+        }
+
+        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+    }
+
+    /**
+     * Perform a shape casting on the world and return the first entity the cone hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     *
+     * @param {number} radius - The radius of the cone.
+     * @param {number} height - The total height of the cone from tip to tip.
+     * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     *
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     */
+    coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+        let fn = 'btConeShape';
+
+        if (axis === 0) {
+            fn = 'btConeShapeX';
+        } else if (axis === 2) {
+            fn = 'btConeShapeZ';
+        }
+
+        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+    }
+
+    /**
+     * Perform a shape casting on the world and return the first entity the cylinder hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     *
+     * @param {number} radius - The radius of the cylinder.
+     * @param {number} height - The total height of the cylinder from tip to tip.
+     * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     *
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     */
+    cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+        let fn = 'btCylinderShape';
+
+        if (axis === 0) {
+            fn = 'btCylinderShapeX';
+        } else if (axis === 2) {
+            fn = 'btCylinderShapeZ';
+        }
+
+        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+    }
+
+    /**
+     * Perform a shape casting on the world and return the first entity the sphere hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {number} radius - The radius for the sphere.
-     * @param {Vec3} start - The world space point for the center of the sphere at the beginning of the cast.
-     * @param {Vec3} end - The world space point for the center of the sphere at the end of the cast.
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     *
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     */
+    sphereCastFirst(radius, startPosition, endPosition) {
+        return this._shapeCastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition);
+    }
+
+    /**
+     * Perform a shape casting on the world and return the first entity the shape hits.
+     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     *
+     * @param {object} shape - The Ammo.btCollisionShape to use for shape casting check.
+     * @param {Vec3} startPosition - The world space starting position for the shape to be.
+     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {boolean} [destroyShape] - Whether to destroy the shape after the cast. Defaults to true.
      *
-     * @returns {HitResult[]} An array of sphereCast hit results (0 length if there were no hits).
+     * @returns {HitResult} The first hit result (null if there were no hits).
+     * @private
      */
-    sphereCastAll(radius, start, end) {
-        // Sweeping
-        const height = start.distance(end) + radius * 2;
+    _shapeCastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, destroyShape = true) {
+        Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapeCastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
 
-        // Find rotation
-        shapecastRotationMatrix.setLookAt(start, end, Vec3.UP);
-        shapecastRotation.setFromMat4(shapecastRotationMatrix);
+        let result = null;
 
-        // Transform start vector to make it beween initial start and end.
-        shapecastPosition.lerp(start, end, 0.5);
+        ammoVec3.setValue(startPosition.x, startPosition.y, startPosition.z);
+        if (startRotation instanceof Quat) {
+            ammoQuat.setValue(startRotation.x, startRotation.y, startRotation.z, startRotation.w);
+        } else {
+            ammoQuat.setEulerZYX(startRotation.z, startRotation.y, startRotation.x);
+        }
 
-        return this._shapeTest(new Ammo.btCapsuleShapeZ(radius, height), shapecastPosition, shapecastRotation);
+        // Assign position and rotation to origin transform.
+        ammoTransform.setIdentity();
+        ammoTransform.setOrigin(ammoVec3);
+        ammoTransform.setRotation(ammoQuat);
+
+        ammoVec3.setValue(endPosition.x, endPosition.y, endPosition.z);
+        if (endRotation) {
+            if (endRotation instanceof Quat) {
+                ammoQuat.setValue(endRotation.x, endRotation.y, endRotation.z, endRotation.w);
+            } else {
+                ammoQuat.setEulerZYX(endRotation.z, endRotation.y, endRotation.x);
+            }
+        }
+
+        // Assign position and rotation to destination transform.
+        ammoTransform2.setIdentity();
+        ammoTransform2.setOrigin(ammoVec3);
+        ammoTransform2.setRotation(ammoQuat);
+
+        // Callback for the contactTest results.
+        const resultCallback = new Ammo.ClosestConvexResultCallback();
+
+        // Check for contacts.
+        this.app.systems.rigidbody.dynamicsWorld.convexSweepTest(shape, ammoTransform, ammoTransform2, resultCallback);
+
+        if (resultCallback.hasHit()) {
+            const body = Ammo.castObject(resultCallback.get_m_hitCollisionObject(), Ammo.btRigidBody);
+            if (body) {
+                const point = resultCallback.get_m_hitPointWorld();
+                const normal = resultCallback.get_m_hitNormalWorld();
+
+                result = new HitResult(
+                    body.entity,
+                    new Vec3(point.x(), point.y(), point.z()),
+                    new Vec3(normal.x(), normal.y(), normal.z())
+                );
+            }
+        }
+
+        // Destroy unused variables for performance.
+        Ammo.destroy(resultCallback);
+        if (destroyShape) {
+            Ammo.destroy(shape);
+        }
+
+        return result;
     }
 
     /**
@@ -596,12 +783,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {object} shape - The shape to use for collision.
-     * @param {number} shape.axis - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} shape.halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {number} shape.height - The total height of the capsule, cylinder or cone from tip to tip.
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
+     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
      * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
-     * @param {number} shape.radius - The radius of the sphere, capsule, cylinder or cone.
-     * @param {Vec3} [position] - The world space position for the shape to be.
+     * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
+     * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
@@ -627,7 +814,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {Vec3} [position] - The world space position for the box to be.
+     * @param {Vec3} position - The world space position for the box to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
@@ -645,7 +832,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
      * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} [position] - The world space position for the capsule to be.
+     * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      *
      * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
@@ -670,7 +857,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
      * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} [position] - The world space position for the cone to be.
+     * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      *
      * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
@@ -695,7 +882,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
      * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} [position] - The world space position for the cylinder to be.
+     * @param {Vec3} position - The world space position for the cylinder to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
@@ -718,7 +905,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {number} radius - The radius of the sphere.
-     * @param {Vec3} [position] - The world space position for the sphere to be.
+     * @param {Vec3} position - The world space position for the sphere to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
@@ -732,15 +919,16 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
-     * @param {Ammo.btCollisionShape} shape - The Ammo.btCollisionShape to use for collision check.
-     * @param {Vec3} [position] - The world space position for the shape to be.
+     * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
+     * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
+     * @param {boolean} destroyShape - Whether to destroy the shape once done.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * @private
      */
-    _shapeTest(shape, position = Vec3.ZERO, rotation = Vec3.ZERO) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapecast: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+    _shapeTestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTestAll: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
 
@@ -803,7 +991,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);
-        Ammo.destroy(shape);
+        if (destroyShape) {
+            Ammo.destroy(shape);
+        }
 
         return results;
     }

From cf21ed85c2c8af659cb32442a71646d559f4f061 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Wed, 22 Feb 2023 13:41:30 +0000
Subject: [PATCH 39/54] Changed T and C to lowercase from Test and Cast

---
 src/framework/components/rigid-body/system.js | 92 +++++++++----------
 1 file changed, 46 insertions(+), 46 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index bc9f077f151..78e0fa1d76c 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -16,7 +16,7 @@ import { RigidBodyComponentData } from './data.js';
 let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform, ammoTransform2;
 
 // RigidBody for shape tests. Permanent to save performance.
-let shapeTestBody;
+let shapetestBody;
 
 /**
  * Object holding the result of a successful hit.
@@ -579,18 +579,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
+    shapecastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuleCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.capsulecastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
             case 'cone':
-                return this.coneCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.conecastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
             case 'cylinder':
-                return this.cylinderCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.cylindercastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
             case 'sphere':
-                return this.sphereCastFirst(shape.radius, startPosition, endPosition);
+                return this.spherecastFirst(shape.radius, startPosition, endPosition);
             default:
-                return this.boxCastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation);
+                return this.boxcastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation);
         }
     }
 
@@ -606,9 +606,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    boxCastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation) {
+    boxcastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapeCastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation);
+        return this._shapecastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -625,7 +625,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+    capsulecastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
         let fn = 'btCapsuleShape';
 
         if (axis === 0) {
@@ -634,7 +634,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapecastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -651,7 +651,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+    conecastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
         let fn = 'btConeShape';
 
         if (axis === 0) {
@@ -660,7 +660,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btConeShapeZ';
         }
 
-        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapecastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -677,7 +677,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+    cylindercastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
         let fn = 'btCylinderShape';
 
         if (axis === 0) {
@@ -686,7 +686,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCylinderShapeZ';
         }
 
-        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapecastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -699,8 +699,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    sphereCastFirst(radius, startPosition, endPosition) {
-        return this._shapeCastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition);
+    spherecastFirst(radius, startPosition, endPosition) {
+        return this._shapecastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition);
     }
 
     /**
@@ -717,8 +717,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult} The first hit result (null if there were no hits).
      * @private
      */
-    _shapeCastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, destroyShape = true) {
-        Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapeCastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
+    _shapecastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, destroyShape = true) {
+        Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapecastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
 
         let result = null;
 
@@ -791,20 +791,20 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapetest hit results (0 length if there were no hits).
      */
-    shapeTestAll(shape, position, rotation) {
+    shapetestAll(shape, position, rotation) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuleTestAll(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.capsuletestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cone':
-                return this.coneTestAll(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.conetestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cylinder':
-                return this.cylinderTestAll(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.cylindertestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'sphere':
-                return this.sphereTestAll(shape.radius, position, rotation);
+                return this.spheretestAll(shape.radius, position, rotation);
             default:
-                return this.boxTestAll(shape.halfExtents, position, rotation);
+                return this.boxtestAll(shape.halfExtents, position, rotation);
         }
     }
 
@@ -819,9 +819,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
      */
-    boxTestAll(halfExtents, position, rotation) {
+    boxtestAll(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapeTestAll(new Ammo.btBoxShape(ammoVec3), position, rotation);
+        return this._shapetestAll(new Ammo.btBoxShape(ammoVec3), position, rotation);
     }
 
     /**
@@ -837,7 +837,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
      */
-    capsuleTestAll(radius, height, axis, position, rotation) {
+    capsuletestAll(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
 
         if (axis === 0) {
@@ -846,7 +846,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapetestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -862,7 +862,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
      */
-    coneTestAll(radius, height, axis, position, rotation) {
+    conetestAll(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
 
         if (axis === 0) {
@@ -871,7 +871,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btConeShapeZ';
         }
 
-        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapetestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -887,7 +887,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      */
-    cylinderTestAll(radius, height, axis, position, rotation) {
+    cylindertestAll(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
 
         if (axis === 0) {
@@ -896,7 +896,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCylinderShapeZ';
         }
 
-        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapetestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -910,8 +910,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
      */
-    sphereTestAll(radius, position, rotation) {
-        return this._shapeTestAll(new Ammo.btSphereShape(radius), position, rotation);
+    spheretestAll(radius, position, rotation) {
+        return this._shapetestAll(new Ammo.btSphereShape(radius), position, rotation);
     }
 
     /**
@@ -924,11 +924,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      * @param {boolean} destroyShape - Whether to destroy the shape once done.
      *
-     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapetest hit results (0 length if there were no hits).
      * @private
      */
-    _shapeTestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTestAll: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+    _shapetestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapetestAll: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
 
@@ -948,14 +948,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
         ammoTransform.setRotation(ammoQuat);
 
         // We only initialize the shapeTast body here so we don't have an extra body unless the user uses this function
-        if (!shapeTestBody) {
-            shapeTestBody = this.createBody(0, shape, ammoTransform);
+        if (!shapetestBody) {
+            shapetestBody = this.createBody(0, shape, ammoTransform);
         }
 
         // Make sure the body has proper shape, transform and is active.
-        shapeTestBody.setCollisionShape(shape);
-        shapeTestBody.setWorldTransform(ammoTransform);
-        shapeTestBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
+        shapetestBody.setCollisionShape(shape);
+        shapetestBody.setWorldTransform(ammoTransform);
+        shapetestBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
 
         // Callback for the contactTest results.
         const resultCallback = new Ammo.ConcreteContactResultCallback();
@@ -984,10 +984,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
         };
 
         // Check for contacts.
-        this.dynamicsWorld.contactTest(shapeTestBody, resultCallback);
+        this.dynamicsWorld.contactTest(shapetestBody, resultCallback);
 
         // Remove body shape.
-        shapeTestBody.setCollisionShape(null);
+        shapetestBody.setCollisionShape(null);
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);

From f5d91b6a4070525acec77d02efa6fcf6435909cd Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Wed, 22 Feb 2023 16:30:03 +0000
Subject: [PATCH 40/54] Reverted previous commit

---
 src/framework/components/rigid-body/system.js | 92 +++++++++----------
 1 file changed, 46 insertions(+), 46 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 78e0fa1d76c..bc9f077f151 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -16,7 +16,7 @@ import { RigidBodyComponentData } from './data.js';
 let ammoRayStart, ammoRayEnd, ammoVec3, ammoQuat, ammoTransform, ammoTransform2;
 
 // RigidBody for shape tests. Permanent to save performance.
-let shapetestBody;
+let shapeTestBody;
 
 /**
  * Object holding the result of a successful hit.
@@ -579,18 +579,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    shapecastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
+    shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsulecastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.capsuleCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
             case 'cone':
-                return this.conecastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.coneCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
             case 'cylinder':
-                return this.cylindercastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.cylinderCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
             case 'sphere':
-                return this.spherecastFirst(shape.radius, startPosition, endPosition);
+                return this.sphereCastFirst(shape.radius, startPosition, endPosition);
             default:
-                return this.boxcastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation);
+                return this.boxCastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation);
         }
     }
 
@@ -606,9 +606,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    boxcastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation) {
+    boxCastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapecastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -625,7 +625,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    capsulecastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+    capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
         let fn = 'btCapsuleShape';
 
         if (axis === 0) {
@@ -634,7 +634,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapecastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -651,7 +651,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    conecastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+    coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
         let fn = 'btConeShape';
 
         if (axis === 0) {
@@ -660,7 +660,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btConeShapeZ';
         }
 
-        return this._shapecastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -677,7 +677,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    cylindercastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
+    cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
         let fn = 'btCylinderShape';
 
         if (axis === 0) {
@@ -686,7 +686,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCylinderShapeZ';
         }
 
-        return this._shapecastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -699,8 +699,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    spherecastFirst(radius, startPosition, endPosition) {
-        return this._shapecastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition);
+    sphereCastFirst(radius, startPosition, endPosition) {
+        return this._shapeCastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition);
     }
 
     /**
@@ -717,8 +717,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult} The first hit result (null if there were no hits).
      * @private
      */
-    _shapecastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, destroyShape = true) {
-        Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapecastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
+    _shapeCastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, destroyShape = true) {
+        Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapeCastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
 
         let result = null;
 
@@ -791,20 +791,20 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      *
-     * @returns {HitResult[]} An array of shapetest hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      */
-    shapetestAll(shape, position, rotation) {
+    shapeTestAll(shape, position, rotation) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuletestAll(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.capsuleTestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cone':
-                return this.conetestAll(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.coneTestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'cylinder':
-                return this.cylindertestAll(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.cylinderTestAll(shape.radius, shape.height, shape.axis, position, rotation);
             case 'sphere':
-                return this.spheretestAll(shape.radius, position, rotation);
+                return this.sphereTestAll(shape.radius, position, rotation);
             default:
-                return this.boxtestAll(shape.halfExtents, position, rotation);
+                return this.boxTestAll(shape.halfExtents, position, rotation);
         }
     }
 
@@ -819,9 +819,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
      */
-    boxtestAll(halfExtents, position, rotation) {
+    boxTestAll(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapetestAll(new Ammo.btBoxShape(ammoVec3), position, rotation);
+        return this._shapeTestAll(new Ammo.btBoxShape(ammoVec3), position, rotation);
     }
 
     /**
@@ -837,7 +837,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
      */
-    capsuletestAll(radius, height, axis, position, rotation) {
+    capsuleTestAll(radius, height, axis, position, rotation) {
         let fn = 'btCapsuleShape';
 
         if (axis === 0) {
@@ -846,7 +846,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCapsuleShapeZ';
         }
 
-        return this._shapetestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -862,7 +862,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
      */
-    conetestAll(radius, height, axis, position, rotation) {
+    coneTestAll(radius, height, axis, position, rotation) {
         let fn = 'btConeShape';
 
         if (axis === 0) {
@@ -871,7 +871,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btConeShapeZ';
         }
 
-        return this._shapetestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -887,7 +887,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      */
-    cylindertestAll(radius, height, axis, position, rotation) {
+    cylinderTestAll(radius, height, axis, position, rotation) {
         let fn = 'btCylinderShape';
 
         if (axis === 0) {
@@ -896,7 +896,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             fn = 'btCylinderShapeZ';
         }
 
-        return this._shapetestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
     }
 
     /**
@@ -910,8 +910,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
      */
-    spheretestAll(radius, position, rotation) {
-        return this._shapetestAll(new Ammo.btSphereShape(radius), position, rotation);
+    sphereTestAll(radius, position, rotation) {
+        return this._shapeTestAll(new Ammo.btSphereShape(radius), position, rotation);
     }
 
     /**
@@ -924,11 +924,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      * @param {boolean} destroyShape - Whether to destroy the shape once done.
      *
-     * @returns {HitResult[]} An array of shapetest hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * @private
      */
-    _shapetestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapetestAll: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+    _shapeTestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTestAll: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
 
@@ -948,14 +948,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
         ammoTransform.setRotation(ammoQuat);
 
         // We only initialize the shapeTast body here so we don't have an extra body unless the user uses this function
-        if (!shapetestBody) {
-            shapetestBody = this.createBody(0, shape, ammoTransform);
+        if (!shapeTestBody) {
+            shapeTestBody = this.createBody(0, shape, ammoTransform);
         }
 
         // Make sure the body has proper shape, transform and is active.
-        shapetestBody.setCollisionShape(shape);
-        shapetestBody.setWorldTransform(ammoTransform);
-        shapetestBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
+        shapeTestBody.setCollisionShape(shape);
+        shapeTestBody.setWorldTransform(ammoTransform);
+        shapeTestBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
 
         // Callback for the contactTest results.
         const resultCallback = new Ammo.ConcreteContactResultCallback();
@@ -984,10 +984,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
         };
 
         // Check for contacts.
-        this.dynamicsWorld.contactTest(shapetestBody, resultCallback);
+        this.dynamicsWorld.contactTest(shapeTestBody, resultCallback);
 
         // Remove body shape.
-        shapetestBody.setCollisionShape(null);
+        shapeTestBody.setCollisionShape(null);
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);

From 1ccc26a7a127be751d766724d1fa39f4feb1d34c Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 24 Feb 2023 18:33:01 +0100
Subject: [PATCH 41/54] Reduced code length

---
 src/framework/components/rigid-body/system.js | 81 +++++++------------
 1 file changed, 27 insertions(+), 54 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index bc9f077f151..9408eb4a3ac 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -234,6 +234,27 @@ class ContactResult {
 
 const _schema = ['enabled'];
 
+/**
+ * Creates a new shape.
+ *
+ * @param {string} name - Name of the shape. Must start with capital letter.
+ * @param {number} [axis] - The local space axis with which the shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+ * @param {...any} [args] - Arguments to pass to creation.
+ * @returns {object} Created Ammo.btCollisionShape.
+ * @ignore
+ */
+function createShape(name, axis, ...args) {
+    let fn = `bt${name}Shape`;
+
+    if (axis === 0) {
+        fn += 'X';
+    } else if (axis === 2) {
+        fn += 'Z';
+    }
+
+    return new Ammo[fn](...args);
+}
+
 /**
  * The RigidBodyComponentSystem maintains the dynamics world for simulating rigid bodies, it also
  * controls global values for the world such as gravity. Note: The RigidBodyComponentSystem is only
@@ -626,15 +647,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
     capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
-        let fn = 'btCapsuleShape';
-
-        if (axis === 0) {
-            fn = 'btCapsuleShapeX';
-        } else if (axis === 2) {
-            fn = 'btCapsuleShapeZ';
-        }
-
-        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(createShape('Capsule', axis, radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -652,15 +665,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
     coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
-        let fn = 'btConeShape';
-
-        if (axis === 0) {
-            fn = 'btConeShapeX';
-        } else if (axis === 2) {
-            fn = 'btConeShapeZ';
-        }
-
-        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(createShape('Cone', axis, radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -678,15 +683,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
     cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
-        let fn = 'btCylinderShape';
-
-        if (axis === 0) {
-            fn = 'btCylinderShapeX';
-        } else if (axis === 2) {
-            fn = 'btCylinderShapeZ';
-        }
-
-        return this._shapeCastFirst(new Ammo[fn](radius, height), startPosition, endPosition, startRotation, endRotation);
+        return this._shapeCastFirst(createShape('Cylinder', axis, radius, height), startPosition, endPosition, startRotation, endRotation);
     }
 
     /**
@@ -838,15 +835,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
      */
     capsuleTestAll(radius, height, axis, position, rotation) {
-        let fn = 'btCapsuleShape';
-
-        if (axis === 0) {
-            fn = 'btCapsuleShapeX';
-        } else if (axis === 2) {
-            fn = 'btCapsuleShapeZ';
-        }
-
-        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(createShape('Capsule', axis, radius, height), position, rotation);
     }
 
     /**
@@ -863,15 +852,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
      */
     coneTestAll(radius, height, axis, position, rotation) {
-        let fn = 'btConeShape';
-
-        if (axis === 0) {
-            fn = 'btConeShapeX';
-        } else if (axis === 2) {
-            fn = 'btConeShapeZ';
-        }
-
-        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(createShape('Cone', axis, radius, height), position, rotation);
     }
 
     /**
@@ -888,15 +869,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      */
     cylinderTestAll(radius, height, axis, position, rotation) {
-        let fn = 'btCylinderShape';
-
-        if (axis === 0) {
-            fn = 'btCylinderShapeX';
-        } else if (axis === 2) {
-            fn = 'btCylinderShapeZ';
-        }
-
-        return this._shapeTestAll(new Ammo[fn](radius, height), position, rotation);
+        return this._shapeTestAll(createShape('Cylinder', axis, radius, height), position, rotation);
     }
 
     /**

From 377f5aec8eba162de2590a040e3581bbc5dc11dd Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Sun, 19 Mar 2023 10:27:09 +0000
Subject: [PATCH 42/54] Added support for `shapeTestFirst`

---
 src/framework/components/rigid-body/system.js | 159 +++++++++++++++++-
 1 file changed, 154 insertions(+), 5 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 9408eb4a3ac..11338ecc55d 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -832,7 +832,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      *
-     * @returns {HitResult[]} An array of capsuletest hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of capsuleTest hit results (0 length if there were no hits).
      */
     capsuleTestAll(radius, height, axis, position, rotation) {
         return this._shapeTestAll(createShape('Capsule', axis, radius, height), position, rotation);
@@ -849,7 +849,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      *
-     * @returns {HitResult[]} An array of conetest hit results (0 length if there were no hits).
+     * @returns {HitResult[]} An array of coneTest hit results (0 length if there were no hits).
      */
     coneTestAll(radius, height, axis, position, rotation) {
         return this._shapeTestAll(createShape('Cone', axis, radius, height), position, rotation);
@@ -895,13 +895,154 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {boolean} destroyShape - Whether to destroy the shape once done.
+     * @param {boolean} [destroyShape] - Whether to destroy the shape once done.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
-     * @private
+     * @ignore
      */
     _shapeTestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTestAll: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
+        return this._shapeTest(shape, position, rotation, false, destroyShape);
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the shape hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {object} shape - The shape to use for collision.
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
+     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
+     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
+     * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
+     * @param {Vec3} position - The world space position for the shape to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
+     *
+     * @returns {HitResult|null} A shapeTest hit result (null if there were no hits).
+     */
+    shapeTestFirst(shape, position, rotation) {
+        switch (shape.type) {
+            case 'capsule':
+                return this.capsuleTestFirst(shape.radius, shape.height, shape.axis, position, rotation);
+            case 'cone':
+                return this.coneTestFirst(shape.radius, shape.height, shape.axis, position, rotation);
+            case 'cylinder':
+                return this.cylinderTestFirst(shape.radius, shape.height, shape.axis, position, rotation);
+            case 'sphere':
+                return this.sphereTestFirst(shape.radius, position, rotation);
+            default:
+                return this.boxTestFirst(shape.halfExtents, position, rotation);
+        }
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the box hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
+     * @param {Vec3} position - The world space position for the box to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
+     *
+     * @returns {HitResult|null} A boxTest hit result (null if there were no hits).
+     */
+    boxTestFirst(halfExtents, position, rotation) {
+        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
+        return this._shapeTestFirst(new Ammo.btBoxShape(ammoVec3), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the capsule hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {number} radius - The radius of the capsule.
+     * @param {number} height - The total height of the capsule from tip to tip.
+     * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} position - The world space position for the capsule to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
+     *
+     * @returns {HitResult|null} A capsuleTest hit result (null if there were no hits).
+     */
+    capsuleTestFirst(radius, height, axis, position, rotation) {
+        return this._shapeTestFirst(createShape('Capsule', axis, radius, height), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the cone hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {number} radius - The radius of the cone.
+     * @param {number} height - The total height of the cone from tip to tip.
+     * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} position - The world space position for the cone to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
+     *
+     * @returns {HitResult|null} A coneTest hit result (null if there were no hits).
+     */
+    coneTestFirst(radius, height, axis, position, rotation) {
+        return this._shapeTestFirst(createShape('Cone', axis, radius, height), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the cylinder hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {number} radius - The radius of the cylinder.
+     * @param {number} height - The total height of the cylinder from tip to tip.
+     * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {Vec3} position - The world space position for the cylinder to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
+     *
+     * @returns {HitResult|null} A cylinderTest hit result (null if there were no hits).
+     */
+    cylinderTestFirst(radius, height, axis, position, rotation) {
+        return this._shapeTestFirst(createShape('Cylinder', axis, radius, height), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the sphere hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {number} radius - The radius of the sphere.
+     * @param {Vec3} position - The world space position for the sphere to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
+     *
+     * @returns {HitResult|null} A sphereTest hit result (null if there were no hits).
+     */
+    sphereTestFirst(radius, position, rotation) {
+        return this._shapeTestFirst(new Ammo.btSphereShape(radius), position, rotation);
+    }
+
+    /**
+     * Perform a collision check on the world and return the first entity the shape hits.
+     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
+     *
+     * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
+     * @param {Vec3} position - The world space position for the shape to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
+     * @param {boolean} [destroyShape] - Whether to destroy the shape once done.
+     *
+     * @returns {HitResult|null} The shapeTest hit result (null if there were no hits).
+     * @ignore
+     */
+    _shapeTestFirst(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
+        return this._shapeTest(shape, position, rotation, true, destroyShape)[0] || null;
+    }
+
+    /**
+     * Perform a collision check on the world and return all entities the shape hits.
+     * It returns an array of {@link HitResult}. If no hits are
+     * detected, the returned array will be of length 0.
+     *
+     * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
+     * @param {Vec3} position - The world space position for the shape to be.
+     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
+     * @param {boolean} [firstOnly] - Whether only the first hit should be saved.
+     * @param {boolean} [destroyShape] - Whether to destroy the shape once done.
+     *
+     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
+     * @private
+     */
+    _shapeTest(shape, position, rotation = Vec3.ZERO, firstOnly = true, destroyShape = true) {
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTest: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
 
@@ -933,6 +1074,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Callback for the contactTest results.
         const resultCallback = new Ammo.ConcreteContactResultCallback();
         resultCallback.addSingleResult = function (cp, colObj0Wrap, partId0, index0, colObj1Wrap, p1, index1) {
+            if (firstOnly && results.length === 1) {
+                return 0;
+            }
+
             // Retrieve collided entity.
             const body1 = Ammo.castObject(Ammo.wrapPointer(colObj1Wrap, Ammo.btCollisionObjectWrapper).getCollisionObject(), Ammo.btRigidBody);
 
@@ -952,8 +1097,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
                         new Vec3(point.x(), point.y(), point.z()),
                         new Vec3(normal.x(), normal.y(), normal.z())
                     ));
+
+                    return 1;
                 }
             }
+
+            return 0;
         };
 
         // Check for contacts.

From 383e9ad6fdba195605a128f8605aac41d2125402 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Tue, 21 Mar 2023 22:32:56 +0100
Subject: [PATCH 43/54] Resolve conflicts from source

---
 src/framework/components/rigid-body/system.js | 82 +++++++++++++------
 1 file changed, 59 insertions(+), 23 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 11338ecc55d..34ded95920b 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -28,9 +28,11 @@ class HitResult {
      * @param {import('../../entity.js').Entity} entity - The entity that was hit.
      * @param {Vec3} point - The point at which the ray hit the entity in world space.
      * @param {Vec3} normal - The normal vector of the surface where the ray hit in world space.
+     * @param {number} hitFraction - The normalized distance (between 0 and 1) at which the hit
+     * occurred from the starting point.
      * @hideconstructor
      */
-    constructor(entity, point, normal) {
+    constructor(entity, point, normal, hitFraction) {
         /**
          * The entity that was hit.
          *
@@ -51,6 +53,14 @@ class HitResult {
          * @type {Vec3}
          */
         this.normal = normal;
+
+        /**
+         * The normalized distance (between 0 and 1) at which the ray hit occurred from the
+         * starting point.
+         *
+         * @type {number}
+         */
+        this.hitFraction = hitFraction;
     }
 }
 
@@ -513,6 +523,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
         if (rayCallback.hasHit()) {
             const collisionObj = rayCallback.get_m_collisionObject();
             const body = Ammo.castObject(collisionObj, Ammo.btRigidBody);
+
             if (body) {
                 const point = rayCallback.get_m_hitPointWorld();
                 const normal = rayCallback.get_m_hitNormalWorld();
@@ -520,7 +531,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 result = new HitResult(
                     body.entity,
                     new Vec3(point.x(), point.y(), point.z()),
-                    new Vec3(normal.x(), normal.y(), normal.z())
+                    new Vec3(normal.x(), normal.y(), normal.z()),
+                    rayCallback.get_m_closestHitFraction()
                 );
 
                 // keeping for backwards compatibility
@@ -541,11 +553,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
     /**
      * Raycast the world and return all entities the ray hits. It returns an array of
      * {@link HitResult}, one for each hit. If no hits are detected, the returned array will be
-     * of length 0.
+     * of length 0. Results are sorted by distance with closest first.
      *
      * @param {Vec3} start - The world space point where the ray starts.
      * @param {Vec3} end - The world space point where the ray ends.
      * @returns {HitResult[]} An array of raycast hit results (0 length if there were no hits).
+     * Results are sorted by distance with closest first.
      */
     raycastAll(start, end) {
         Debug.assert(Ammo.AllHitsRayResultCallback, 'pc.RigidBodyComponentSystem#raycastAll: Your version of ammo.js does not expose Ammo.AllHitsRayResultCallback. Update it to latest.');
@@ -561,6 +574,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
             const collisionObjs = rayCallback.get_m_collisionObjects();
             const points = rayCallback.get_m_hitPointWorld();
             const normals = rayCallback.get_m_hitNormalWorld();
+            const hitFractions = rayCallback.get_m_hitFractions();
 
             const numHits = collisionObjs.size();
             for (let i = 0; i < numHits; i++) {
@@ -571,11 +585,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
                     const result = new HitResult(
                         body.entity,
                         new Vec3(point.x(), point.y(), point.z()),
-                        new Vec3(normal.x(), normal.y(), normal.z())
+                        new Vec3(normal.x(), normal.y(), normal.z()),
+                        hitFractions.at(i)
                     );
+
                     results.push(result);
                 }
             }
+
+            results.sort((a, b) => a.hitFraction - b.hitFraction);
         }
 
         Ammo.destroy(rayCallback);
@@ -588,17 +606,19 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {object} shape - The shape to use for sweep test.
-     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone
+     * shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
      * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
-     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
+     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
+     * "cone", "cylinder" or "sphere". Defaults to "box".
      * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} startPosition - The world space starting position for the shape to be.
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
      * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
      *
-     * @returns {HitResult} The first hit result (null if there were no hits).
+     * @returns {HitResult|null} The first hit result (null if there were no hits).
      */
     shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
         switch (shape.type) {
@@ -638,7 +658,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
-     * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the capsule's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} startPosition - The world space starting position for the shape to be.
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
@@ -656,7 +677,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
-     * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the cone's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} startPosition - The world space starting position for the shape to be.
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
@@ -674,7 +696,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
-     * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the cylinder's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} startPosition - The world space starting position for the shape to be.
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
@@ -760,7 +783,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 result = new HitResult(
                     body.entity,
                     new Vec3(point.x(), point.y(), point.z()),
-                    new Vec3(normal.x(), normal.y(), normal.z())
+                    new Vec3(normal.x(), normal.y(), normal.z()),
+                    0
                 );
             }
         }
@@ -780,10 +804,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * detected, the returned array will be of length 0.
      *
      * @param {object} shape - The shape to use for collision.
-     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or
+     * cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
      * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
-     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
+     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
+     * "cone", "cylinder" or "sphere". Defaults to "box".
      * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
@@ -828,7 +854,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
-     * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the capsule's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      *
@@ -845,7 +872,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
-     * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the cone's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      *
@@ -862,7 +890,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
-     * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the cylinder's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cylinder to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
      *
@@ -909,10 +938,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
      *
      * @param {object} shape - The shape to use for collision.
-     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or
+     * cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
      * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
-     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule", "cone", "cylinder" or "sphere". Defaults to "box".
+     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
+     * "cone", "cylinder" or "sphere". Defaults to "box".
      * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
@@ -955,7 +986,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
-     * @param {number} axis - The local space axis with which the capsule's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the capsule's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      *
@@ -971,7 +1003,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
-     * @param {number} axis - The local space axis with which the cone's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the cone's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      *
@@ -987,7 +1020,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
-     * @param {number} axis - The local space axis with which the cylinder's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {number} axis - The local space axis with which the cylinder's length is aligned.
+     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cylinder to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
      *
@@ -1087,7 +1121,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 const manifold = Ammo.wrapPointer(cp, Ammo.btManifoldPoint);
 
                 // Make sure there is a collision
-                if (manifold.getDistance() < 0) {
+                const distance = manifold.getDistance();
+                if (distance < 0) {
                     const point = manifold.get_m_positionWorldOnB();
                     const normal = manifold.get_m_normalWorldOnB();
 
@@ -1095,7 +1130,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
                     results.push(new HitResult(
                         body1.entity,
                         new Vec3(point.x(), point.y(), point.z()),
-                        new Vec3(normal.x(), normal.y(), normal.z())
+                        new Vec3(normal.x(), normal.y(), normal.z()),
+                        0
                     ));
 
                     return 1;

From e5c7a09f4c1732914b3ffce470139e7191de8ee9 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Tue, 21 Mar 2023 23:25:15 +0100
Subject: [PATCH 44/54] Match latest features from raycasting

---
 src/framework/components/rigid-body/system.js | 78 ++++++++++++-------
 1 file changed, 51 insertions(+), 27 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 34ded95920b..b13ca6b55d4 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -30,9 +30,10 @@ class HitResult {
      * @param {Vec3} normal - The normal vector of the surface where the ray hit in world space.
      * @param {number} hitFraction - The normalized distance (between 0 and 1) at which the hit
      * occurred from the starting point.
+     * @param {number} distance - The distance at which the hit occurred from the starting point.
      * @hideconstructor
      */
-    constructor(entity, point, normal, hitFraction) {
+    constructor(entity, point, normal, hitFraction, distance) {
         /**
          * The entity that was hit.
          *
@@ -55,12 +56,19 @@ class HitResult {
         this.normal = normal;
 
         /**
-         * The normalized distance (between 0 and 1) at which the ray hit occurred from the
-         * starting point.
+         * The normalized distance (between 0 and 1) at which the hit occurred from the
+         * starting point toward the end. Prefer `distance` for shapes.
          *
          * @type {number}
          */
         this.hitFraction = hitFraction;
+
+        /**
+         * The distance at which the hit occurred from the starting point.
+         *
+         * @type {number}
+         */
+        this.distance = distance;
     }
 }
 
@@ -521,18 +529,22 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
         this.dynamicsWorld.rayTest(ammoRayStart, ammoRayEnd, rayCallback);
         if (rayCallback.hasHit()) {
+            const rayDistance = start.distance(end);
+
             const collisionObj = rayCallback.get_m_collisionObject();
             const body = Ammo.castObject(collisionObj, Ammo.btRigidBody);
 
             if (body) {
                 const point = rayCallback.get_m_hitPointWorld();
                 const normal = rayCallback.get_m_hitNormalWorld();
+                const hitFraction = rayCallback.get_m_closestHitFraction();
 
                 result = new HitResult(
                     body.entity,
                     new Vec3(point.x(), point.y(), point.z()),
                     new Vec3(normal.x(), normal.y(), normal.z()),
-                    rayCallback.get_m_closestHitFraction()
+                    hitFraction,
+                    rayDistance * hitFraction
                 );
 
                 // keeping for backwards compatibility
@@ -571,6 +583,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
         this.dynamicsWorld.rayTest(ammoRayStart, ammoRayEnd, rayCallback);
         if (rayCallback.hasHit()) {
+            const rayDistance = start.distance(end);
+
             const collisionObjs = rayCallback.get_m_collisionObjects();
             const points = rayCallback.get_m_hitPointWorld();
             const normals = rayCallback.get_m_hitNormalWorld();
@@ -579,14 +593,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
             const numHits = collisionObjs.size();
             for (let i = 0; i < numHits; i++) {
                 const body = Ammo.castObject(collisionObjs.at(i), Ammo.btRigidBody);
+
                 if (body) {
                     const point = points.at(i);
                     const normal = normals.at(i);
+                    const hitFraction = hitFractions.at(i);
+
                     const result = new HitResult(
                         body.entity,
                         new Vec3(point.x(), point.y(), point.z()),
                         new Vec3(normal.x(), normal.y(), normal.z()),
-                        hitFractions.at(i)
+                        hitFraction,
+                        rayDistance * hitFraction
                     );
 
                     results.push(result);
@@ -732,12 +750,13 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
      * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
-     * @param {boolean} [destroyShape] - Whether to destroy the shape after the cast. Defaults to true.
+     * @param {object} [options] - Options to use when casting the shape.
+     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the cast. Defaults to true.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      * @private
      */
-    _shapeCastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, destroyShape = true) {
+    _shapeCastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, options = {}) {
         Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapeCastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
 
         let result = null;
@@ -780,18 +799,21 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 const point = resultCallback.get_m_hitPointWorld();
                 const normal = resultCallback.get_m_hitNormalWorld();
 
+                const pointVec = new Vec3(point.x(), point.y(), point.z());
+
                 result = new HitResult(
                     body.entity,
-                    new Vec3(point.x(), point.y(), point.z()),
+                    pointVec,
                     new Vec3(normal.x(), normal.y(), normal.z()),
-                    0
+                    resultCallback.get_m_closestHitFraction(),
+                    startPosition.distance(pointVec)
                 );
             }
         }
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);
-        if (destroyShape) {
+        if (options.destroyShape !== false) {
             Ammo.destroy(shape);
         }
 
@@ -924,13 +946,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {boolean} [destroyShape] - Whether to destroy the shape once done.
+     * @param {object} [options] - Options to use when testing the shape.
+     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to true.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * @ignore
      */
-    _shapeTestAll(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
-        return this._shapeTest(shape, position, rotation, false, destroyShape);
+    _shapeTestAll(shape, position, rotation = Vec3.ZERO, options) {
+        return this._shapeTest(shape, position, rotation, options);
     }
 
     /**
@@ -1052,13 +1075,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {boolean} [destroyShape] - Whether to destroy the shape once done.
+     * @param {object} [options] - Options to use when testing the shape.
+     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the tets. Defaults to true.
      *
      * @returns {HitResult|null} The shapeTest hit result (null if there were no hits).
      * @ignore
      */
-    _shapeTestFirst(shape, position, rotation = Vec3.ZERO, destroyShape = true) {
-        return this._shapeTest(shape, position, rotation, true, destroyShape)[0] || null;
+    _shapeTestFirst(shape, position, rotation = Vec3.ZERO, options) {
+        return this._shapeTest(shape, position, rotation, options)[0] || null;
     }
 
     /**
@@ -1069,13 +1093,13 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {boolean} [firstOnly] - Whether only the first hit should be saved.
-     * @param {boolean} [destroyShape] - Whether to destroy the shape once done.
+     * @param {object} [options] - Options to use when testing the shape.
+     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to true.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * @private
      */
-    _shapeTest(shape, position, rotation = Vec3.ZERO, firstOnly = true, destroyShape = true) {
+    _shapeTest(shape, position, rotation = Vec3.ZERO, options = {}) {
         Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTest: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
         const results = [];
@@ -1108,10 +1132,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Callback for the contactTest results.
         const resultCallback = new Ammo.ConcreteContactResultCallback();
         resultCallback.addSingleResult = function (cp, colObj0Wrap, partId0, index0, colObj1Wrap, p1, index1) {
-            if (firstOnly && results.length === 1) {
-                return 0;
-            }
-
             // Retrieve collided entity.
             const body1 = Ammo.castObject(Ammo.wrapPointer(colObj1Wrap, Ammo.btCollisionObjectWrapper).getCollisionObject(), Ammo.btRigidBody);
 
@@ -1126,12 +1146,16 @@ class RigidBodyComponentSystem extends ComponentSystem {
                     const point = manifold.get_m_positionWorldOnB();
                     const normal = manifold.get_m_normalWorldOnB();
 
+                    const pointVec = new Vec3(point.x(), point.y(), point.z());
+                    const startDistance = position.distance(pointVec);
+
                     // Push the result.
                     results.push(new HitResult(
                         body1.entity,
-                        new Vec3(point.x(), point.y(), point.z()),
+                        pointVec,
                         new Vec3(normal.x(), normal.y(), normal.z()),
-                        0
+                        startDistance / (startDistance - distance), // Minus distance as it's negative.
+                        startDistance
                     ));
 
                     return 1;
@@ -1149,11 +1173,11 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
         // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);
-        if (destroyShape) {
+        if (options.destroyShape !== false) {
             Ammo.destroy(shape);
         }
 
-        return results;
+        return results.sort((a, b) => a.distance - b.distance);
     }
 
     /**

From 9802d4cea50b38982ad72572af79e0888458569f Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Tue, 21 Mar 2023 23:33:54 +0100
Subject: [PATCH 45/54] Added sorting documentation.

---
 src/framework/components/rigid-body/system.js | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index b13ca6b55d4..86f69738c93 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -837,6 +837,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      */
     shapeTestAll(shape, position, rotation) {
         switch (shape.type) {
@@ -863,6 +864,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      */
     boxTestAll(halfExtents, position, rotation) {
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
@@ -882,6 +884,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      *
      * @returns {HitResult[]} An array of capsuleTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      */
     capsuleTestAll(radius, height, axis, position, rotation) {
         return this._shapeTestAll(createShape('Capsule', axis, radius, height), position, rotation);
@@ -900,6 +903,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      *
      * @returns {HitResult[]} An array of coneTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      */
     coneTestAll(radius, height, axis, position, rotation) {
         return this._shapeTestAll(createShape('Cone', axis, radius, height), position, rotation);
@@ -918,6 +922,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      */
     cylinderTestAll(radius, height, axis, position, rotation) {
         return this._shapeTestAll(createShape('Cylinder', axis, radius, height), position, rotation);
@@ -933,6 +938,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      */
     sphereTestAll(radius, position, rotation) {
         return this._shapeTestAll(new Ammo.btSphereShape(radius), position, rotation);
@@ -950,6 +956,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to true.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      * @ignore
      */
     _shapeTestAll(shape, position, rotation = Vec3.ZERO, options) {
@@ -1097,6 +1104,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to true.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
+     * Results are ordered based on distance from starting position with closest first.
      * @private
      */
     _shapeTest(shape, position, rotation = Vec3.ZERO, options = {}) {

From 969ab5b4df0cfc731dfb3dba4aedb22e647166fe Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Wed, 22 Mar 2023 20:31:31 +0100
Subject: [PATCH 46/54] Added filtering to shape testing and casting

---
 src/framework/components/rigid-body/system.js | 281 +++++++++++++-----
 1 file changed, 212 insertions(+), 69 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 64a73bfe5b9..2479ee6c69e 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -707,114 +707,137 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
      * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {object} [options] - The additional options for the shape casting.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape cast.
      *
      * @returns {HitResult|null} The first hit result (null if there were no hits).
      */
-    shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation) {
+    shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation, options) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuleCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.capsuleCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation, options);
             case 'cone':
-                return this.coneCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.coneCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation, options);
             case 'cylinder':
-                return this.cylinderCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation);
+                return this.cylinderCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation, options);
             case 'sphere':
-                return this.sphereCastFirst(shape.radius, startPosition, endPosition);
+                return this.sphereCastFirst(shape.radius, startPosition, endPosition, options);
             default:
-                return this.boxCastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation);
+                return this.boxCastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation, options);
         }
     }
 
     /**
-     * Perform a shape casting on the world and return the first entity the box hits.
+     * Perform a box casting on the world and return the first entity the box hits.
      * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {Vec3} startPosition - The world space starting position for the box to be.
+     * @param {Vec3} endPosition - The world space ending position for the box to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the box to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the box to have.
+     * @param {object} [options] - The additional options for the box casting.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the box cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the box cast.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    boxCastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation) {
+    boxCastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation, options = {}) {
+        options.destroyShape = true;
+
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        const options = { destroyShape: true };
         return this._shapeCastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation, options);
     }
 
     /**
-     * Perform a shape casting on the world and return the first entity the capsule hits.
+     * Perform a capsule casting on the world and return the first entity the capsule hits.
      * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {number} radius - The radius of the capsule.
      * @param {number} height - The total height of the capsule from tip to tip.
      * @param {number} axis - The local space axis with which the capsule's length is aligned.
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {Vec3} startPosition - The world space starting position for the capsule to be.
+     * @param {Vec3} endPosition - The world space ending position for the capsule to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the capsule to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the capsule to have.
+     * @param {object} [options] - The additional options for the capsule casting.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the capsule cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the capsule cast.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
-        const options = { destroyShape: true };
+    capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation, options = {}) {
+        options.destroyShape = true;
+
         return this._shapeCastFirst(createShape('Capsule', axis, radius, height), startPosition, endPosition, startRotation, endRotation, options);
     }
 
     /**
-     * Perform a shape casting on the world and return the first entity the cone hits.
+     * Perform a cone casting on the world and return the first entity the cone hits.
      * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {number} radius - The radius of the cone.
      * @param {number} height - The total height of the cone from tip to tip.
      * @param {number} axis - The local space axis with which the cone's length is aligned.
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {Vec3} startPosition - The world space starting position for the cone to be.
+     * @param {Vec3} endPosition - The world space ending position for the cone to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the cone to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the cone to have.
+     * @param {object} [options] - The additional options for the cone casting.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cone cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cone cast.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
-        const options = { destroyShape: true };
+    coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation, options = {}) {
+        options.destroyShape = true;
+
         return this._shapeCastFirst(createShape('Cone', axis, radius, height), startPosition, endPosition, startRotation, endRotation, options);
     }
 
     /**
-     * Perform a shape casting on the world and return the first entity the cylinder hits.
+     * Perform a cylinder casting on the world and return the first entity the cylinder hits.
      * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {number} radius - The radius of the cylinder.
      * @param {number} height - The total height of the cylinder from tip to tip.
      * @param {number} axis - The local space axis with which the cylinder's length is aligned.
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {Vec3} startPosition - The world space starting position for the cylinder to be.
+     * @param {Vec3} endPosition - The world space ending position for the cylinder to be.
+     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the cylinder to have.
+     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the cylinder to have.
+     * @param {object} [options] - The additional options for the cylinder casting.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cylinder cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cylinder cast.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation) {
-        const options = { destroyShape: true };
+    cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation, options = {}) {
+        options.destroyShape = true;
+
         return this._shapeCastFirst(createShape('Cylinder', axis, radius, height), startPosition, endPosition, startRotation, endRotation, options);
     }
 
     /**
-     * Perform a shape casting on the world and return the first entity the sphere hits.
+     * Perform a sphere casting on the world and return the first entity the sphere hits.
      * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
      *
      * @param {number} radius - The radius for the sphere.
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
+     * @param {Vec3} startPosition - The world space starting position for the sphere to be.
+     * @param {Vec3} endPosition - The world space ending position for the sphere to be.
+     * @param {object} [options] - The additional options for the sphere casting.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the sphere cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the sphere cast.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      */
-    sphereCastFirst(radius, startPosition, endPosition) {
-        const options = { destroyShape: true };
+    sphereCastFirst(radius, startPosition, endPosition, options = {}) {
+        options.destroyShape = true;
+
         return this._shapeCastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition, options);
     }
 
@@ -827,8 +850,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} endPosition - The world space ending position for the shape to be.
      * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
      * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
-     * @param {object} [options] - Options to use when casting the shape.
+     * @param {object} [options] - The additional options for the shape casting.
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the cast. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape cast.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape cast.
      *
      * @returns {HitResult} The first hit result (null if there were no hits).
      * @private
@@ -867,6 +892,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
         // Callback for the contactTest results.
         const resultCallback = new Ammo.ClosestConvexResultCallback();
 
+        if (typeof options.filterCollisionGroup === 'number') {
+            resultCallback.set_m_collisionFilterGroup(options.filterCollisionGroup);
+        }
+
+        if (typeof options.filterCollisionMask === 'number') {
+            resultCallback.set_m_collisionFilterMask(options.filterCollisionMask);
+        }
+
         // Check for contacts.
         this.app.systems.rigidbody.dynamicsWorld.convexSweepTest(shape, ammoTransform, ammoTransform2, resultCallback);
 
@@ -913,8 +946,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
      * @param {object} [options] - The additional options for the shape testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * @param {boolean} [options.sort] - Whether to sort shape test results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -943,8 +982,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the box to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
      * @param {object} [options] - The additional options for the box testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * @param {boolean} [options.sort] - Whether to sort box test results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the box test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the box test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -968,8 +1013,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
      * @param {object} [options] - The additional options for the capsule testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * @param {boolean} [options.sort] - Whether to sort capsule test results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the capsule test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the capsule test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult[]} An array of capsuleTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -992,8 +1043,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
      * @param {object} [options] - The additional options for the cone testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * @param {boolean} [options.sort] - Whether to sort cone test results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cone test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cone test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult[]} An array of coneTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -1015,9 +1072,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cylinder to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
-     * @param {object} [options] - The additional options for the shape testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * @param {object} [options] - The additional options for the cylinder testing.
+     * @param {boolean} [options.sort] - Whether to sort cylinder test results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cylinder test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cylinder test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -1037,8 +1100,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} position - The world space position for the sphere to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
      * @param {object} [options] - The additional options for the sphere testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * @param {boolean} [options.sort] - Whether to sort sphere test results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the sphere test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the sphere test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -1057,7 +1126,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - Options to use when testing the shape.
+     * @param {object} [options] - The additional options for the shape testing.
+     * @param {boolean} [options.sort] - Whether to sort shape test results based on distance with closest
+     * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to false.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
@@ -1065,8 +1142,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @ignore
      */
     _shapeTestAll(shape, position, rotation = Vec3.ZERO, options = {}) {
-        options.destroyShape = true;
-
         return this._shapeTest(shape, position, rotation, options);
     }
 
@@ -1084,21 +1159,28 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
+     * @param {object} [options] - The additional options for the shape testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult|null} A shapeTest hit result (null if there were no hits).
      */
-    shapeTestFirst(shape, position, rotation) {
+    shapeTestFirst(shape, position, rotation, options = {}) {
         switch (shape.type) {
             case 'capsule':
-                return this.capsuleTestFirst(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.capsuleTestFirst(shape.radius, shape.height, shape.axis, position, rotation, options);
             case 'cone':
-                return this.coneTestFirst(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.coneTestFirst(shape.radius, shape.height, shape.axis, position, rotation, options);
             case 'cylinder':
-                return this.cylinderTestFirst(shape.radius, shape.height, shape.axis, position, rotation);
+                return this.cylinderTestFirst(shape.radius, shape.height, shape.axis, position, rotation, options);
             case 'sphere':
-                return this.sphereTestFirst(shape.radius, position, rotation);
+                return this.sphereTestFirst(shape.radius, position, rotation, options);
             default:
-                return this.boxTestFirst(shape.halfExtents, position, rotation);
+                return this.boxTestFirst(shape.halfExtents, position, rotation, options);
         }
     }
 
@@ -1109,11 +1191,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
      * @param {Vec3} position - The world space position for the box to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
+     * @param {object} [options] - The additional options for the box testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the box test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the box test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult|null} A boxTest hit result (null if there were no hits).
      */
-    boxTestFirst(halfExtents, position, rotation) {
-        const options = { destroyShape: true };
+    boxTestFirst(halfExtents, position, rotation, options = {}) {
+        options.destroyShape = true;
 
         ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
         return this._shapeTestFirst(new Ammo.btBoxShape(ammoVec3), position, rotation, options);
@@ -1129,11 +1218,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the capsule to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
+     * @param {object} [options] - The additional options for the capsule testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the capsule test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the capsule test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult|null} A capsuleTest hit result (null if there were no hits).
      */
-    capsuleTestFirst(radius, height, axis, position, rotation) {
-        const options = { destroyShape: true };
+    capsuleTestFirst(radius, height, axis, position, rotation, options = {}) {
+        options.destroyShape = true;
 
         return this._shapeTestFirst(createShape('Capsule', axis, radius, height), position, rotation, options);
     }
@@ -1148,11 +1244,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cone to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
+     * @param {object} [options] - The additional options for the cone testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cone test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cone test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult|null} A coneTest hit result (null if there were no hits).
      */
-    coneTestFirst(radius, height, axis, position, rotation) {
-        const options = { destroyShape: true };
+    coneTestFirst(radius, height, axis, position, rotation, options) {
+        options.destroyShape = true;
 
         return this._shapeTestFirst(createShape('Cone', axis, radius, height), position, rotation, options);
     }
@@ -1167,11 +1270,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} position - The world space position for the cylinder to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
+     * @param {object} [options] - The additional options for the cylinder testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cylinder test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cylinder test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult|null} A cylinderTest hit result (null if there were no hits).
      */
-    cylinderTestFirst(radius, height, axis, position, rotation) {
-        const options = { destroyShape: true };
+    cylinderTestFirst(radius, height, axis, position, rotation, options) {
+        options.destroyShape = true;
 
         return this._shapeTestFirst(createShape('Cylinder', axis, radius, height), position, rotation, options);
     }
@@ -1183,11 +1293,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} radius - The radius of the sphere.
      * @param {Vec3} position - The world space position for the sphere to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
+     * @param {object} [options] - The additional options for the sphere testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the sphere test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the sphere test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      *
      * @returns {HitResult|null} A sphereTest hit result (null if there were no hits).
      */
-    sphereTestFirst(radius, position, rotation) {
-        const options = { destroyShape: true };
+    sphereTestFirst(radius, position, rotation, options) {
+        options.destroyShape = true;
 
         return this._shapeTestFirst(new Ammo.btSphereShape(radius), position, rotation, options);
     }
@@ -1199,13 +1316,21 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - Options to use when testing the shape.
+     * @param {object} [options] - The additional options for the shape testing.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the tests. Defaults to false.
      *
      * @returns {HitResult|null} The shapeTest hit result (null if there were no hits).
      * @ignore
      */
     _shapeTestFirst(shape, position, rotation = Vec3.ZERO, options) {
+        options.sort = true;
+
         return this._shapeTest(shape, position, rotation, options)[0] || null;
     }
 
@@ -1217,10 +1342,16 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
      * @param {Vec3} position - The world space position for the shape to be.
      * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - Options to use when testing the shape.
-     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to false.
+     * @param {object} [options] - The additional options for the shape testing.
      * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
      * first. Defaults to false.
+     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
+     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
+     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to false.
      *
      * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
      * Results are ordered based on distance from starting position with closest first.
@@ -1264,6 +1395,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
             // Make sure there is an existing entity.
             if (body1.entity) {
+                if (options.filterTags && !body1.entity.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body1.entity)) {
+                    return 0;
+                }
+
                 // Retrieve manifold point.
                 const manifold = Ammo.wrapPointer(cp, Ammo.btManifoldPoint);
 
@@ -1292,6 +1427,14 @@ class RigidBodyComponentSystem extends ComponentSystem {
             return 0;
         };
 
+        if (typeof options.filterCollisionGroup === 'number') {
+            resultCallback.set_m_collisionFilterGroup(options.filterCollisionGroup);
+        }
+
+        if (typeof options.filterCollisionMask === 'number') {
+            resultCallback.set_m_collisionFilterMask(options.filterCollisionMask);
+        }
+
         // Check for contacts.
         this.dynamicsWorld.contactTest(shapeTestBody, resultCallback);
 

From 4c707913806f9121104fa2c673b234c4960e4901 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Mon, 17 Apr 2023 20:01:40 +0200
Subject: [PATCH 47/54] Fixed tags filtering issue

---
 src/framework/components/rigid-body/system.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 2479ee6c69e..9beaf6c18da 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -661,7 +661,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 const body = Ammo.castObject(collisionObjs.at(i), Ammo.btRigidBody);
 
                 if (body && body.entity) {
-                    if (options.filterTags && !body.entity.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body.entity)) {
+                    if (options.filterTags && !body.entity.tags.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body.entity)) {
                         continue;
                     }
 
@@ -1395,7 +1395,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
             // Make sure there is an existing entity.
             if (body1.entity) {
-                if (options.filterTags && !body1.entity.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body1.entity)) {
+                if (options.filterTags && !body1.entity.tags.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body1.entity)) {
                     return 0;
                 }
 

From 2b2b64397cc348ec68d99706165e222b66a4d22c Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 29 Mar 2024 10:45:48 +0000
Subject: [PATCH 48/54] Fixed trailing space

---
 src/framework/components/rigid-body/system.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 90231e05da0..7bdafeee478 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -52,7 +52,7 @@ class HitResult {
      * @type {number}
      */
     hitFraction;
-    
+
     /**
      * The distance at which the hit occurred from the starting point.
      *

From c5e35d6f5399fc4132a1eddd09b99a6cf3944ba9 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 31 May 2024 02:37:21 +0100
Subject: [PATCH 49/54] Reduced public API functions

---
 src/deprecated/deprecated.js                  |   9 +
 src/framework/components/rigid-body/system.js | 938 ++++--------------
 2 files changed, 184 insertions(+), 763 deletions(-)

diff --git a/src/deprecated/deprecated.js b/src/deprecated/deprecated.js
index 16e358e6033..bce5271739f 100644
--- a/src/deprecated/deprecated.js
+++ b/src/deprecated/deprecated.js
@@ -1661,6 +1661,15 @@ RigidBodyComponentSystem.prototype.setGravity = function () {
     }
 };
 
+RigidBodyComponentSystem.prototype.raycastFirst = function (start, end, options) {
+    Debug.deprecated('pc.RigidBodyComponentSystem#raycastFirst is deprecated. Use pc.RigidBodyComponentSystem#raycast instead.');
+    return this.raycast(start, end, options)[0] ?? null;
+};
+
+RigidBodyComponentSystem.prototype.raycastAll = function (start, end, options = {}) {
+    Debug.deprecated('pc.RigidBodyComponentSystem#raycastAll is deprecated. Use pc.RigidBodyComponentSystem#raycast instead.');
+    return this.raycast(start, end, { ...options, findAll: true });
+};
 
 export function basisSetDownloadConfig(glueUrl, wasmUrl, fallbackUrl) {
     Debug.deprecated('pc.basisSetDownloadConfig is deprecated. Use pc.basisInitialize instead.');
diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 7bdafeee478..8c8ba4ce0d9 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -544,74 +544,9 @@ class RigidBodyComponentSystem extends ComponentSystem {
     }
 
     /**
-     * Raycast the world and return the first entity the ray hits. Fire a ray into the world from
-     * start to end, if the ray hits an entity with a collision component, it returns a
-     * {@link HitResult}, otherwise returns null.
-     *
-     * @param {Vec3} start - The world space point where the ray starts.
-     * @param {Vec3} end - The world space point where the ray ends.
-     * @param {object} [options] - The additional options for the raycasting.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the raycast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the raycast.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes one argument: the entity to evaluate.
-     *
-     * @returns {HitResult|null} The result of the raycasting or null if there was no hit.
-     */
-    raycastFirst(start, end, options = {}) {
-        // Tags and custom callback can only be performed by looking at all results.
-        if (options.filterTags || options.filterCallback) {
-            options.sort = true;
-            return this.raycastAll(start, end, options)[0] || null;
-        }
-
-        let result = null;
-
-        ammoRayStart.setValue(start.x, start.y, start.z);
-        ammoRayEnd.setValue(end.x, end.y, end.z);
-        const rayCallback = new Ammo.ClosestRayResultCallback(ammoRayStart, ammoRayEnd);
-
-        if (typeof options.filterCollisionGroup === 'number') {
-            rayCallback.set_m_collisionFilterGroup(options.filterCollisionGroup);
-        }
-
-        if (typeof options.filterCollisionMask === 'number') {
-            rayCallback.set_m_collisionFilterMask(options.filterCollisionMask);
-        }
-
-        this.dynamicsWorld.rayTest(ammoRayStart, ammoRayEnd, rayCallback);
-        if (rayCallback.hasHit()) {
-            const rayDistance = start.distance(end);
-
-            const collisionObj = rayCallback.get_m_collisionObject();
-            const body = Ammo.castObject(collisionObj, Ammo.btRigidBody);
-
-            if (body) {
-                const point = rayCallback.get_m_hitPointWorld();
-                const normal = rayCallback.get_m_hitNormalWorld();
-                const hitFraction = rayCallback.get_m_closestHitFraction();
-
-                result = new HitResult(
-                    body.entity,
-                    new Vec3(point.x(), point.y(), point.z()),
-                    new Vec3(normal.x(), normal.y(), normal.z()),
-                    hitFraction,
-                    rayDistance * hitFraction
-                );
-            }
-        }
-
-        Ammo.destroy(rayCallback);
-
-        return result;
-    }
-
-    /**
-     * Raycast the world and return all entities the ray hits. It returns an array of
+     * Raycast the world and return the entities the ray hits. It returns an array of
      * {@link HitResult}, one for each hit. If no hits are detected, the returned array will be
-     * of length 0. Results are sorted by distance with closest first.
+     * of length 0.
      *
      * @param {Vec3} start - The world space point where the ray starts.
      * @param {Vec3} end - The world space point where the ray ends.
@@ -624,29 +559,33 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * query but within an array.
      * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
      * Must return true to proceed with result. Takes the entity to evaluate as argument.
+     * @param {boolean} [options.findAll] - Whether to return all results. When false will return only
+     * the closest result. Defaults to false.
      *
      * @returns {HitResult[]} An array of raycast hit results (0 length if there were no hits).
      *
      * @example
      * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
-     * const hits = this.app.systems.rigidbody.raycastAll(new Vec3(0, 2, 2), new Vec3(0, -2, -2));
+     * const hits = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), { findAll: true });
      * @example
      * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
      * // where hit entity is tagged with `bird` OR `mammal`
-     * const hits = this.app.systems.rigidbody.raycastAll(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
-     *     filterTags: [ "bird", "mammal" ]
+     * const hits = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
+     *     filterTags: [ "bird", "mammal" ],
+     *     findAll: true
      * });
      * @example
      * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
      * // where hit entity has a `camera` component
-     * const hits = this.app.systems.rigidbody.raycastAll(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
-     *     filterCallback: (entity) => entity && entity.camera
+     * const hits = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
+     *     filterCallback: (entity) => entity && entity.camera,
+     *     findAll: true
      * });
      * @example
-     * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
+     * // Return the closest result of a raycast between 0, 2, 2 and 0, -2, -2
      * // where hit entity is tagged with (`carnivore` AND `mammal`) OR (`carnivore` AND `reptile`)
      * // and the entity has an `anim` component
-     * const hits = this.app.systems.rigidbody.raycastAll(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
+     * const hit = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
      *     filterTags: [
      *         [ "carnivore", "mammal" ],
      *         [ "carnivore", "reptile" ]
@@ -654,14 +593,15 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *     filterCallback: (entity) => entity && entity.anim
      * });
      */
-    raycastAll(start, end, options = {}) {
-        Debug.assert(Ammo.AllHitsRayResultCallback, 'pc.RigidBodyComponentSystem#raycastAll: Your version of ammo.js does not expose Ammo.AllHitsRayResultCallback. Update it to latest.');
-
+    raycast(start, end, options = {}) {
+        Debug.assert(Ammo.AllHitsRayResultCallback, 'pc.RigidBodyComponentSystem#raycast: Your version of ammo.js does not expose Ammo.AllHitsRayResultCallback. Update it to latest.');
         const results = [];
 
         ammoRayStart.setValue(start.x, start.y, start.z);
         ammoRayEnd.setValue(end.x, end.y, end.z);
-        const rayCallback = new Ammo.AllHitsRayResultCallback(ammoRayStart, ammoRayEnd);
+
+        const findAll = options.findAll || options.filterTags || options.filterCallback;
+        const rayCallback = findAll ? new Ammo.AllHitsRayResultCallback(ammoRayStart, ammoRayEnd) : new Ammo.ClosestRayResultCallback(ammoRayStart, ammoRayEnd);
 
         if (typeof options.filterCollisionGroup === 'number') {
             rayCallback.set_m_collisionFilterGroup(options.filterCollisionGroup);
@@ -672,742 +612,211 @@ class RigidBodyComponentSystem extends ComponentSystem {
         }
 
         this.dynamicsWorld.rayTest(ammoRayStart, ammoRayEnd, rayCallback);
+
         if (rayCallback.hasHit()) {
             const rayDistance = start.distance(end);
 
-            const collisionObjs = rayCallback.get_m_collisionObjects();
-            const points = rayCallback.get_m_hitPointWorld();
-            const normals = rayCallback.get_m_hitNormalWorld();
-            const hitFractions = rayCallback.get_m_hitFractions();
+            if (findAll) {
+                const collisionObjs = rayCallback.get_m_collisionObjects();
+                const points = rayCallback.get_m_hitPointWorld();
+                const normals = rayCallback.get_m_hitNormalWorld();
+                const hitFractions = rayCallback.get_m_hitFractions();
+
+                const numHits = collisionObjs.size();
+                for (let i = 0; i < numHits; i++) {
+                    const body = Ammo.castObject(collisionObjs.at(i), Ammo.btRigidBody);
 
-            const numHits = collisionObjs.size();
-            for (let i = 0; i < numHits; i++) {
-                const body = Ammo.castObject(collisionObjs.at(i), Ammo.btRigidBody);
+                    if (body && body.entity) {
+                        if ((options.filterTags && !body.entity.tags.has(...options.filterTags)) || (options.filterCallback && !options.filterCallback(body.entity))) {
+                            continue;
+                        }
 
-                if (body && body.entity) {
-                    if (options.filterTags && !body.entity.tags.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body.entity)) {
-                        continue;
+                        const point = points.at(i);
+                        const normal = normals.at(i);
+                        const hitFraction = hitFractions.at(i);
+
+                        results.push(new HitResult(body.entity, new Vec3(point.x(), point.y(), point.z()), new Vec3(normal.x(), normal.y(), normal.z()), hitFraction, rayDistance * hitFraction));
                     }
+                }
 
-                    const point = points.at(i);
-                    const normal = normals.at(i);
-                    const hitFraction = hitFractions.at(i);
+                if (options.sort || !options.findAll) {
+                    results.sort((a, b) => a.hitFraction - b.hitFraction);
 
-                    const result = new HitResult(
-                        body.entity,
-                        new Vec3(point.x(), point.y(), point.z()),
-                        new Vec3(normal.x(), normal.y(), normal.z()),
-                        hitFraction,
-                        rayDistance * hitFraction
+                    if (!options.findAll && results.length > 1) {
+                        results.length = 1;
+                    }
+                }
+            } else {
+                const collisionObj = rayCallback.get_m_collisionObject();
+                const body = Ammo.castObject(collisionObj, Ammo.btRigidBody);
+
+                if (body) {
+                    const point = rayCallback.get_m_hitPointWorld();
+                    const normal = rayCallback.get_m_hitNormalWorld();
+                    const hitFraction = rayCallback.get_m_closestHitFraction();
+
+                    results.push(
+                        new HitResult(
+                            body.entity,
+                            new Vec3(point.x(), point.y(), point.z()),
+                            new Vec3(normal.x(), normal.y(), normal.z()),
+                            hitFraction,
+                            rayDistance * hitFraction
+                        )
                     );
-
-                    results.push(result);
                 }
             }
-
-            if (options.sort) {
-                results.sort((a, b) => a.hitFraction - b.hitFraction);
-            }
         }
 
+        Ammo.destroy(ammoRayStart);
+        Ammo.destroy(ammoRayEnd);
         Ammo.destroy(rayCallback);
-
         return results;
     }
 
     /**
-     * Perform a shape casting on the world and return the first entity the shape hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
+     * Perform a collision check on the world and return the entities the shape hits.
+     * It returns an array of {@link HitResult}. If no hits are
+     * detected, the returned array will be of length 0.
      *
-     * @param {object} shape - The shape to use for sweep test.
-     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or cone
-     * shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+     * @param {object} shape - The shape to use for collision. Can be a btCollisionShape or shape config.
+     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or
+     * cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
      * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
      * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
-     * "cone", "cylinder" or "sphere". Defaults to "box".
+     * "cone", "cylinder" or "sphere".
      * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
+     * @param {Vec3} startPosition - The world space position for the shape to be at start.
+     * @param {Vec3|Quat} [startRotation] - The world space rotation for the shape to have at start.
+     * @param {Vec3} [endPosition] - The world space position for the shape to be at end.
      * @param {object} [options] - The additional options for the shape casting.
+     * @param {Vec3|Quat} [options.endRotation] - The world space rotation for the shape to have at end.
+     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
+     * first. Defaults to false.
      * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape cast.
      * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape cast.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
+     * query but within an array.
+     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument.
+     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the cast.
+     * Defaults to false, forced true when shape is not a btCollisionShape.
+     * @param {boolean} [options.findAll] - Whether to return all results. When false will return only
+     * the closest result. Defaults to false.
      *
-     * @returns {HitResult|null} The first hit result (null if there were no hits).
+     * @returns {HitResult[]} An array of shapeCast hit results (0 length if there were no hits).
      */
-    shapeCastFirst(shape, startPosition, endPosition, startRotation, endRotation, options) {
+    shapeCast(shape, startPosition, startRotation, endPosition, options = {}) {
+        const results = [];
+
+        let btShape;
         switch (shape.type) {
+            case 'box':
+                ammoVec3.setValue(shape.halfExtents?.x ?? 0.5, shape.halfExtents?.y ?? 0.5, shape.halfExtents?.z ?? 0.5);
+                btShape = new Ammo.btBoxShape(ammoVec3);
+                options.destroyShape = true;
+                break;
             case 'capsule':
-                return this.capsuleCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation, options);
+                btShape = createShape('Capsule', shape.axis, shape.radius ?? 0.5, shape.height ?? 1);
+                options.destroyShape = true;
+                break;
             case 'cone':
-                return this.coneCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation, options);
+                btShape = createShape('Cone', shape.axis, shape.radius ?? 0.5, shape.height ?? 1);
+                options.destroyShape = true;
+                break;
             case 'cylinder':
-                return this.cylinderCastFirst(shape.radius, shape.height, shape.axis, startPosition, endPosition, startRotation, endRotation, options);
+                btShape = createShape('Cylinder', shape.axis, shape.radius ?? 0.5, shape.height ?? 1);
+                options.destroyShape = true;
+                break;
             case 'sphere':
-                return this.sphereCastFirst(shape.radius, startPosition, endPosition, options);
+                btShape = new Ammo.btSphereShape(shape.radius ?? 0.5);
+                options.destroyShape = true;
+                break;
             default:
-                return this.boxCastFirst(shape.halfExtents, startPosition, endPosition, startRotation, endRotation, options);
+                btShape = shape;
+                break;
         }
-    }
-
-    /**
-     * Perform a box casting on the world and return the first entity the box hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
-     *
-     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {Vec3} startPosition - The world space starting position for the box to be.
-     * @param {Vec3} endPosition - The world space ending position for the box to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the box to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the box to have.
-     * @param {object} [options] - The additional options for the box casting.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the box cast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the box cast.
-     *
-     * @returns {HitResult} The first hit result (null if there were no hits).
-     */
-    boxCastFirst(halfExtents, startPosition, endPosition, startRotation, endRotation, options = {}) {
-        options.destroyShape = true;
-
-        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapeCastFirst(new Ammo.btBoxShape(ammoVec3), startPosition, endPosition, startRotation, endRotation, options);
-    }
-
-    /**
-     * Perform a capsule casting on the world and return the first entity the capsule hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
-     *
-     * @param {number} radius - The radius of the capsule.
-     * @param {number} height - The total height of the capsule from tip to tip.
-     * @param {number} axis - The local space axis with which the capsule's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} startPosition - The world space starting position for the capsule to be.
-     * @param {Vec3} endPosition - The world space ending position for the capsule to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the capsule to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the capsule to have.
-     * @param {object} [options] - The additional options for the capsule casting.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the capsule cast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the capsule cast.
-     *
-     * @returns {HitResult} The first hit result (null if there were no hits).
-     */
-    capsuleCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeCastFirst(createShape('Capsule', axis, radius, height), startPosition, endPosition, startRotation, endRotation, options);
-    }
-
-    /**
-     * Perform a cone casting on the world and return the first entity the cone hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
-     *
-     * @param {number} radius - The radius of the cone.
-     * @param {number} height - The total height of the cone from tip to tip.
-     * @param {number} axis - The local space axis with which the cone's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} startPosition - The world space starting position for the cone to be.
-     * @param {Vec3} endPosition - The world space ending position for the cone to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the cone to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the cone to have.
-     * @param {object} [options] - The additional options for the cone casting.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cone cast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cone cast.
-     *
-     * @returns {HitResult} The first hit result (null if there were no hits).
-     */
-    coneCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeCastFirst(createShape('Cone', axis, radius, height), startPosition, endPosition, startRotation, endRotation, options);
-    }
-
-    /**
-     * Perform a cylinder casting on the world and return the first entity the cylinder hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
-     *
-     * @param {number} radius - The radius of the cylinder.
-     * @param {number} height - The total height of the cylinder from tip to tip.
-     * @param {number} axis - The local space axis with which the cylinder's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} startPosition - The world space starting position for the cylinder to be.
-     * @param {Vec3} endPosition - The world space ending position for the cylinder to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the cylinder to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the cylinder to have.
-     * @param {object} [options] - The additional options for the cylinder casting.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cylinder cast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cylinder cast.
-     *
-     * @returns {HitResult} The first hit result (null if there were no hits).
-     */
-    cylinderCastFirst(radius, height, axis, startPosition, endPosition, startRotation, endRotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeCastFirst(createShape('Cylinder', axis, radius, height), startPosition, endPosition, startRotation, endRotation, options);
-    }
-
-    /**
-     * Perform a sphere casting on the world and return the first entity the sphere hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
-     *
-     * @param {number} radius - The radius for the sphere.
-     * @param {Vec3} startPosition - The world space starting position for the sphere to be.
-     * @param {Vec3} endPosition - The world space ending position for the sphere to be.
-     * @param {object} [options] - The additional options for the sphere casting.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the sphere cast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the sphere cast.
-     *
-     * @returns {HitResult} The first hit result (null if there were no hits).
-     */
-    sphereCastFirst(radius, startPosition, endPosition, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeCastFirst(new Ammo.btSphereShape(radius), startPosition, endPosition, options);
-    }
-
-    /**
-     * Perform a shape casting on the world and return the first entity the shape hits.
-     * It returns a {@link HitResult}. If no hits are detected, returned value will be null.
-     *
-     * @param {object} shape - The Ammo.btCollisionShape to use for shape casting check.
-     * @param {Vec3} startPosition - The world space starting position for the shape to be.
-     * @param {Vec3} endPosition - The world space ending position for the shape to be.
-     * @param {Vec3|Quat} [startRotation] - The world space starting rotation for the shape to have.
-     * @param {Vec3|Quat} [endRotation] - The world space ending rotation for the shape to have.
-     * @param {object} [options] - The additional options for the shape casting.
-     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the cast. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape cast.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape cast.
-     *
-     * @returns {HitResult} The first hit result (null if there were no hits).
-     * @private
-     */
-    _shapeCastFirst(shape, startPosition, endPosition, startRotation = Vec3.ZERO, endRotation = undefined, options = {}) {
-        Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#_shapeCastFirst: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
-
-        let result = null;
 
         ammoVec3.setValue(startPosition.x, startPosition.y, startPosition.z);
         if (startRotation instanceof Quat) {
             ammoQuat.setValue(startRotation.x, startRotation.y, startRotation.z, startRotation.w);
-        } else {
+        } else if (startRotation instanceof Vec3) {
             ammoQuat.setEulerZYX(startRotation.z, startRotation.y, startRotation.x);
+        } else {
+            ammoQuat.setEulerZYX(0, 0, 0);
         }
 
-        // Assign position and rotation to origin transform.
         ammoTransform.setIdentity();
         ammoTransform.setOrigin(ammoVec3);
         ammoTransform.setRotation(ammoQuat);
 
-        ammoVec3.setValue(endPosition.x, endPosition.y, endPosition.z);
-        if (endRotation) {
+        const endRotation = options.endRotation;
+        if ((endPosition && !endPosition.equals(startPosition)) || endRotation) {
+            Debug.assert(Ammo.ClosestConvexResultCallback && Ammo.ClosestConvexResultCallback.get_m_hitCollisionObject, 'pc.RigidBodyComponentSystem#shapeCast: Your version of ammo.js does not expose Ammo.ClosestConvexResultCallback or Ammo.ClosestConvexResultCallback#get_m_hitCollisionObject. Update it to latest.');
+
+            ammoVec3.setValue(endPosition.x, endPosition.y, endPosition.z);
             if (endRotation instanceof Quat) {
                 ammoQuat.setValue(endRotation.x, endRotation.y, endRotation.z, endRotation.w);
-            } else {
+            } else if (endRotation instanceof Vec3) {
                 ammoQuat.setEulerZYX(endRotation.z, endRotation.y, endRotation.x);
+            } else {
+                ammoQuat.setEulerZYX(0, 0, 0);
             }
-        }
-
-        // Assign position and rotation to destination transform.
-        ammoTransform2.setIdentity();
-        ammoTransform2.setOrigin(ammoVec3);
-        ammoTransform2.setRotation(ammoQuat);
-
-        // Callback for the contactTest results.
-        const resultCallback = new Ammo.ClosestConvexResultCallback();
 
-        if (typeof options.filterCollisionGroup === 'number') {
-            resultCallback.set_m_collisionFilterGroup(options.filterCollisionGroup);
-        }
+            ammoTransform2.setIdentity();
+            ammoTransform2.setOrigin(ammoVec3);
+            ammoTransform2.setRotation(ammoQuat);
 
-        if (typeof options.filterCollisionMask === 'number') {
-            resultCallback.set_m_collisionFilterMask(options.filterCollisionMask);
-        }
+            const resultCallback = new Ammo.ClosestConvexResultCallback();
 
-        // Check for contacts.
-        this.app.systems.rigidbody.dynamicsWorld.convexSweepTest(shape, ammoTransform, ammoTransform2, resultCallback);
-
-        if (resultCallback.hasHit()) {
-            const body = Ammo.castObject(resultCallback.get_m_hitCollisionObject(), Ammo.btRigidBody);
-            if (body) {
-                const point = resultCallback.get_m_hitPointWorld();
-                const normal = resultCallback.get_m_hitNormalWorld();
-
-                const pointVec = new Vec3(point.x(), point.y(), point.z());
-
-                result = new HitResult(
-                    body.entity,
-                    pointVec,
-                    new Vec3(normal.x(), normal.y(), normal.z()),
-                    resultCallback.get_m_closestHitFraction(),
-                    startPosition.distance(pointVec)
-                );
+            if (typeof options.filterCollisionGroup === 'number') {
+                resultCallback.set_m_collisionFilterGroup(options.filterCollisionGroup);
             }
-        }
-
-        // Destroy unused variables for performance.
-        Ammo.destroy(resultCallback);
-        if (options.destroyShape) {
-            Ammo.destroy(shape);
-        }
-
-        return result;
-    }
 
-    /**
-     * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {object} shape - The shape to use for collision.
-     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or
-     * cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
-     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
-     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
-     * "cone", "cylinder" or "sphere". Defaults to "box".
-     * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - The additional options for the shape testing.
-     * @param {boolean} [options.sort] - Whether to sort shape test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     */
-    shapeTestAll(shape, position, rotation, options) {
-        switch (shape.type) {
-            case 'capsule':
-                return this.capsuleTestAll(shape.radius, shape.height, shape.axis, position, rotation, options);
-            case 'cone':
-                return this.coneTestAll(shape.radius, shape.height, shape.axis, position, rotation, options);
-            case 'cylinder':
-                return this.cylinderTestAll(shape.radius, shape.height, shape.axis, position, rotation, options);
-            case 'sphere':
-                return this.sphereTestAll(shape.radius, position, rotation, options);
-            default:
-                return this.boxTestAll(shape.halfExtents, position, rotation, options);
-        }
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the box hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {Vec3} position - The world space position for the box to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
-     * @param {object} [options] - The additional options for the box testing.
-     * @param {boolean} [options.sort] - Whether to sort box test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the box test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the box test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult[]} An array of boxTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     */
-    boxTestAll(halfExtents, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapeTestAll(new Ammo.btBoxShape(ammoVec3), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the capsule hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {number} radius - The radius of the capsule.
-     * @param {number} height - The total height of the capsule from tip to tip.
-     * @param {number} axis - The local space axis with which the capsule's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the capsule to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
-     * @param {object} [options] - The additional options for the capsule testing.
-     * @param {boolean} [options.sort] - Whether to sort capsule test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the capsule test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the capsule test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult[]} An array of capsuleTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     */
-    capsuleTestAll(radius, height, axis, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeTestAll(createShape('Capsule', axis, radius, height), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the cone hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {number} radius - The radius of the cone.
-     * @param {number} height - The total height of the cone from tip to tip.
-     * @param {number} axis - The local space axis with which the cone's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the cone to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
-     * @param {object} [options] - The additional options for the cone testing.
-     * @param {boolean} [options.sort] - Whether to sort cone test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cone test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cone test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult[]} An array of coneTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     */
-    coneTestAll(radius, height, axis, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeTestAll(createShape('Cone', axis, radius, height), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the cylinder hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {number} radius - The radius of the cylinder.
-     * @param {number} height - The total height of the cylinder from tip to tip.
-     * @param {number} axis - The local space axis with which the cylinder's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the cylinder to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
-     * @param {object} [options] - The additional options for the cylinder testing.
-     * @param {boolean} [options.sort] - Whether to sort cylinder test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cylinder test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cylinder test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult[]} An array of cylinderTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     */
-    cylinderTestAll(radius, height, axis, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeTestAll(createShape('Cylinder', axis, radius, height), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the sphere hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {number} radius - The radius of the sphere.
-     * @param {Vec3} position - The world space position for the sphere to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
-     * @param {object} [options] - The additional options for the sphere testing.
-     * @param {boolean} [options.sort] - Whether to sort sphere test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the sphere test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the sphere test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult[]} An array of sphereTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     */
-    sphereTestAll(radius, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeTestAll(new Ammo.btSphereShape(radius), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - The additional options for the shape testing.
-     * @param {boolean} [options.sort] - Whether to sort shape test results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to false.
-     *
-     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     * @ignore
-     */
-    _shapeTestAll(shape, position, rotation = Vec3.ZERO, options = {}) {
-        return this._shapeTest(shape, position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return the first entity the shape hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {object} shape - The shape to use for collision.
-     * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or
-     * cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
-     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
-     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
-     * "cone", "cylinder" or "sphere". Defaults to "box".
-     * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - The additional options for the shape testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult|null} A shapeTest hit result (null if there were no hits).
-     */
-    shapeTestFirst(shape, position, rotation, options = {}) {
-        switch (shape.type) {
-            case 'capsule':
-                return this.capsuleTestFirst(shape.radius, shape.height, shape.axis, position, rotation, options);
-            case 'cone':
-                return this.coneTestFirst(shape.radius, shape.height, shape.axis, position, rotation, options);
-            case 'cylinder':
-                return this.cylinderTestFirst(shape.radius, shape.height, shape.axis, position, rotation, options);
-            case 'sphere':
-                return this.sphereTestFirst(shape.radius, position, rotation, options);
-            default:
-                return this.boxTestFirst(shape.halfExtents, position, rotation, options);
-        }
-    }
-
-    /**
-     * Perform a collision check on the world and return the first entity the box hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {Vec3} halfExtents - The half-extents of the box in the x, y and z axes.
-     * @param {Vec3} position - The world space position for the box to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the box to have.
-     * @param {object} [options] - The additional options for the box testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the box test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the box test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult|null} A boxTest hit result (null if there were no hits).
-     */
-    boxTestFirst(halfExtents, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        ammoVec3.setValue(halfExtents.x, halfExtents.y, halfExtents.z);
-        return this._shapeTestFirst(new Ammo.btBoxShape(ammoVec3), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return the first entity the capsule hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {number} radius - The radius of the capsule.
-     * @param {number} height - The total height of the capsule from tip to tip.
-     * @param {number} axis - The local space axis with which the capsule's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the capsule to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the capsule to have.
-     * @param {object} [options] - The additional options for the capsule testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the capsule test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the capsule test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult|null} A capsuleTest hit result (null if there were no hits).
-     */
-    capsuleTestFirst(radius, height, axis, position, rotation, options = {}) {
-        options.destroyShape = true;
-
-        return this._shapeTestFirst(createShape('Capsule', axis, radius, height), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return the first entity the cone hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {number} radius - The radius of the cone.
-     * @param {number} height - The total height of the cone from tip to tip.
-     * @param {number} axis - The local space axis with which the cone's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the cone to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the cone to have.
-     * @param {object} [options] - The additional options for the cone testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cone test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cone test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult|null} A coneTest hit result (null if there were no hits).
-     */
-    coneTestFirst(radius, height, axis, position, rotation, options) {
-        options.destroyShape = true;
-
-        return this._shapeTestFirst(createShape('Cone', axis, radius, height), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return the first entity the cylinder hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {number} radius - The radius of the cylinder.
-     * @param {number} height - The total height of the cylinder from tip to tip.
-     * @param {number} axis - The local space axis with which the cylinder's length is aligned.
-     * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
-     * @param {Vec3} position - The world space position for the cylinder to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the cylinder to have.
-     * @param {object} [options] - The additional options for the cylinder testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the cylinder test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the cylinder test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult|null} A cylinderTest hit result (null if there were no hits).
-     */
-    cylinderTestFirst(radius, height, axis, position, rotation, options) {
-        options.destroyShape = true;
-
-        return this._shapeTestFirst(createShape('Cylinder', axis, radius, height), position, rotation, options);
-    }
-
-    /**
-     * Perform a collision check on the world and return the first entity the sphere hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {number} radius - The radius of the sphere.
-     * @param {Vec3} position - The world space position for the sphere to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the sphere to have.
-     * @param {object} [options] - The additional options for the sphere testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the sphere test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the sphere test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     *
-     * @returns {HitResult|null} A sphereTest hit result (null if there were no hits).
-     */
-    sphereTestFirst(radius, position, rotation, options) {
-        options.destroyShape = true;
+            if (typeof options.filterCollisionMask === 'number') {
+                resultCallback.set_m_collisionFilterMask(options.filterCollisionMask);
+            }
 
-        return this._shapeTestFirst(new Ammo.btSphereShape(radius), position, rotation, options);
-    }
+            this.app.systems.rigidbody.dynamicsWorld.convexSweepTest(btShape, ammoTransform, ammoTransform2, resultCallback);
+            if (resultCallback.hasHit()) {
+                const body = Ammo.castObject(resultCallback.get_m_hitCollisionObject(), Ammo.btRigidBody);
 
-    /**
-     * Perform a collision check on the world and return the first entity the shape hits.
-     * It returns a {@link HitResult}. If no hits are detected, the returned value will be null.
-     *
-     * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - The additional options for the shape testing.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the tests. Defaults to false.
-     *
-     * @returns {HitResult|null} The shapeTest hit result (null if there were no hits).
-     * @ignore
-     */
-    _shapeTestFirst(shape, position, rotation = Vec3.ZERO, options) {
-        options.sort = true;
+                if (body) {
+                    const point = resultCallback.get_m_hitPointWorld();
+                    const normal = resultCallback.get_m_hitNormalWorld();
 
-        return this._shapeTest(shape, position, rotation, options)[0] || null;
-    }
-
-    /**
-     * Perform a collision check on the world and return all entities the shape hits.
-     * It returns an array of {@link HitResult}. If no hits are
-     * detected, the returned array will be of length 0.
-     *
-     * @param {object} shape - The Ammo.btCollisionShape to use for collision check.
-     * @param {Vec3} position - The world space position for the shape to be.
-     * @param {Vec3|Quat} [rotation] - The world space rotation for the shape to have.
-     * @param {object} [options] - The additional options for the shape testing.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
-     * first. Defaults to false.
-     * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape test.
-     * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape test.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
-     * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the test. Defaults to false.
-     *
-     * @returns {HitResult[]} An array of shapeTest hit results (0 length if there were no hits).
-     * Results are ordered based on distance from starting position with closest first.
-     * @private
-     */
-    _shapeTest(shape, position, rotation = Vec3.ZERO, options = {}) {
-        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#_shapeTest: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
-
-        const results = [];
+                    const pointVec = new Vec3(point.x(), point.y(), point.z());
+                    results.push(
+                        new HitResult(
+                            body.entity,
+                            pointVec,
+                            new Vec3(normal.x(), normal.y(), normal.z()),
+                            resultCallback.get_m_closestHitFraction(),
+                            startPosition.distance(pointVec)
+                        )
+                    );
+                }
+            }
 
-        // Set proper position
-        ammoVec3.setValue(position.x, position.y, position.z);
+            // Destroy Ammo variables.
+            Ammo.destroy(resultCallback);
+            if (options.destroyShape) {
+                Ammo.destroy(btShape);
+            }
 
-        // Set proper rotation
-        if (rotation instanceof Quat) {
-            ammoQuat.setValue(rotation.x, rotation.y, rotation.z, rotation.w);
-        } else {
-            ammoQuat.setEulerZYX(rotation.z, rotation.y, rotation.x);
+            return results;
         }
 
-        // Assign position and rotation to transform.
-        ammoTransform.setIdentity();
-        ammoTransform.setOrigin(ammoVec3);
-        ammoTransform.setRotation(ammoQuat);
+        Debug.assert(Ammo.ConcreteContactResultCallback, 'pc.RigidBodyComponentSystem#shapeCest: Your version of ammo.js does not expose Ammo.ConcreteContactResultCallback. Update it to latest.');
 
-        // We only initialize the shapeTast body here so we don't have an extra body unless the user uses this function
+        // We only initialize the shapeTest body here so we don't have an extra body unless the user uses this function
         if (!shapeTestBody) {
-            shapeTestBody = this.createBody(0, shape, ammoTransform);
+            shapeTestBody = this.createBody(0, btShape, ammoTransform);
         }
 
         // Make sure the body has proper shape, transform and is active.
-        shapeTestBody.setCollisionShape(shape);
+        shapeTestBody.setCollisionShape(btShape);
         shapeTestBody.setWorldTransform(ammoTransform);
         shapeTestBody.forceActivationState(BODYSTATE_ACTIVE_TAG);
 
@@ -1419,7 +828,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
 
             // Make sure there is an existing entity.
             if (body1.entity) {
-                if (options.filterTags && !body1.entity.tags.has(...options.filterTags) || options.filterCallback && !options.filterCallback(body1.entity)) {
+                if ((options.filterTags && !body1.entity.tags.has(...options.filterTags)) || (options.filterCallback && !options.filterCallback(body1.entity))) {
                     return 0;
                 }
 
@@ -1433,16 +842,18 @@ class RigidBodyComponentSystem extends ComponentSystem {
                     const normal = manifold.get_m_normalWorldOnB();
 
                     const pointVec = new Vec3(point.x(), point.y(), point.z());
-                    const startDistance = position.distance(pointVec);
+                    const startDistance = startPosition.distance(pointVec);
 
                     // Push the result.
-                    results.push(new HitResult(
-                        body1.entity,
-                        pointVec,
-                        new Vec3(normal.x(), normal.y(), normal.z()),
-                        startDistance / (startDistance - distance), // Minus distance as it's negative.
-                        startDistance
-                    ));
+                    results.push(
+                        new HitResult(
+                            body1.entity,
+                            pointVec,
+                            new Vec3(normal.x(), normal.y(), normal.z()),
+                            startDistance / (startDistance - distance), // Minus distance as it's negative.
+                            startDistance
+                        )
+                    );
 
                     return 1;
                 }
@@ -1459,20 +870,21 @@ class RigidBodyComponentSystem extends ComponentSystem {
             resultCallback.set_m_collisionFilterMask(options.filterCollisionMask);
         }
 
-        // Check for contacts.
         this.dynamicsWorld.contactTest(shapeTestBody, resultCallback);
 
-        // Remove body shape.
+        // Destroy Ammo variables.
         shapeTestBody.setCollisionShape(null);
-
-        // Destroy unused variables for performance.
         Ammo.destroy(resultCallback);
         if (options.destroyShape) {
-            Ammo.destroy(shape);
+            Ammo.destroy(btShape);
         }
 
-        if (options.sort) {
-            return results.sort((a, b) => a.distance - b.distance);
+        if (options.sort || !options.findAll) {
+            results.sort((a, b) => a.distance - b.distance);
+
+            if (!options.findAll && results.length > 1) {
+                results.length = 1;
+            }
         }
 
         return results;

From ba29b58c29f9768005886763d2ce47e7f348b2c7 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 31 May 2024 02:51:28 +0100
Subject: [PATCH 50/54] Used Object assign instead of ...

---
 src/deprecated/deprecated.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/deprecated/deprecated.js b/src/deprecated/deprecated.js
index bce5271739f..8d2efb0f0f0 100644
--- a/src/deprecated/deprecated.js
+++ b/src/deprecated/deprecated.js
@@ -1668,7 +1668,7 @@ RigidBodyComponentSystem.prototype.raycastFirst = function (start, end, options)
 
 RigidBodyComponentSystem.prototype.raycastAll = function (start, end, options = {}) {
     Debug.deprecated('pc.RigidBodyComponentSystem#raycastAll is deprecated. Use pc.RigidBodyComponentSystem#raycast instead.');
-    return this.raycast(start, end, { ...options, findAll: true });
+    return this.raycast(start, end, Object.assign(options, { findAll: true }));
 };
 
 export function basisSetDownloadConfig(glueUrl, wasmUrl, fallbackUrl) {

From 8c67c9f0c38557d3e758570358fc5475006335b9 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 31 May 2024 03:14:48 +0100
Subject: [PATCH 51/54] Fixed documentation disclaimers

---
 src/framework/components/rigid-body/system.js | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 8c8ba4ce0d9..c505acbbe78 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -697,13 +697,16 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape cast.
      * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape cast.
      * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
+     * query but within an array. Only available if shape is not having different ending transform from
+     * starting one.
      * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument. Only available
+     * if shape is not having different ending transform from starting one.
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the cast.
      * Defaults to false, forced true when shape is not a btCollisionShape.
      * @param {boolean} [options.findAll] - Whether to return all results. When false will return only
-     * the closest result. Defaults to false.
+     * the closest result. Defaults to false. Only available if shape is not having different ending
+     * transform from starting one.
      *
      * @returns {HitResult[]} An array of shapeCast hit results (0 length if there were no hits).
      */

From b3f213de9eff4e483a1d896871a9246a72b2d11b Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 31 May 2024 09:11:01 +0100
Subject: [PATCH 52/54] Changed raycastFirst/raycastAll occurrences

---
 examples/src/examples/animation/locomotion.example.mjs | 2 +-
 examples/src/examples/physics/raycast.example.mjs      | 8 ++++----
 scripts/camera/first-person-camera.js                  | 2 +-
 src/deprecated/deprecated.js                           | 2 +-
 src/framework/components/camera/component.js           | 5 +++--
 src/framework/components/rigid-body/system.js          | 2 +-
 6 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/examples/src/examples/animation/locomotion.example.mjs b/examples/src/examples/animation/locomotion.example.mjs
index 75528b2708d..8ab9c6ddf31 100644
--- a/examples/src/examples/animation/locomotion.example.mjs
+++ b/examples/src/examples/animation/locomotion.example.mjs
@@ -324,7 +324,7 @@ assetListLoader.load(() => {
         const cameraEntity = app.root.findByName('Camera');
         const near = cameraEntity.camera.screenToWorld(event.x, event.y, cameraEntity.camera.nearClip);
         const far = cameraEntity.camera.screenToWorld(event.x, event.y, cameraEntity.camera.farClip);
-        const result = app.systems.rigidbody.raycastFirst(far, near);
+        const result = app.systems.rigidbody.raycast(far, near)[0];
         if (result) {
             targetPosition = new pc.Vec3(result.point.x, 0, result.point.z);
             characterEntity.anim.setInteger('speed', data.get('jogToggle') ? 2 : 1);
diff --git a/examples/src/examples/physics/raycast.example.mjs b/examples/src/examples/physics/raycast.example.mjs
index 7ad4f593c33..1e0b6292447 100644
--- a/examples/src/examples/physics/raycast.example.mjs
+++ b/examples/src/examples/physics/raycast.example.mjs
@@ -167,7 +167,7 @@ assetListLoader.load(() => {
         // Render the ray used in the raycast
         app.drawLine(start, end, white);
 
-        const result = app.systems.rigidbody.raycastFirst(start, end);
+        const result = app.systems.rigidbody.raycast(start, end)[0];
         if (result) {
             result.entity.render.material = red;
 
@@ -183,7 +183,7 @@ assetListLoader.load(() => {
         // Render the ray used in the raycast
         app.drawLine(start, end, white);
 
-        const results = app.systems.rigidbody.raycastAll(start, end);
+        const results = app.systems.rigidbody.raycast(start, end, { findAll: true });
         results.forEach(function (result) {
             result.entity.render.material = red;
 
@@ -217,8 +217,8 @@ assetListLoader.load(() => {
         app.root.addChild(text);
     };
 
-    createText(assets.font, 'raycastFirst', 0.5, 3.75, 0, 0);
-    createText(assets.font, 'raycastAll', 0.5, -0.25, 0, 0);
+    createText(assets.font, 'raycast', 0.5, 3.75, 0, 0);
+    createText(assets.font, 'raycast (with findAll)', 0.5, -0.25, 0, 0);
 });
 
 export { app };
diff --git a/scripts/camera/first-person-camera.js b/scripts/camera/first-person-camera.js
index 7a472885b37..80c1aa92edf 100644
--- a/scripts/camera/first-person-camera.js
+++ b/scripts/camera/first-person-camera.js
@@ -715,7 +715,7 @@
             const start = this.entity.getPosition();
             const end = tmpV1.copy(start).add(Vec3.DOWN);
             end.y -= 0.1;
-            this._grounded = !!this._rigidbody.system.raycastFirst(start, end);
+            this._grounded = !!this._rigidbody.system.raycast(start, end)[0];
         }
 
         /**
diff --git a/src/deprecated/deprecated.js b/src/deprecated/deprecated.js
index 8d2efb0f0f0..6915d69e21e 100644
--- a/src/deprecated/deprecated.js
+++ b/src/deprecated/deprecated.js
@@ -1667,7 +1667,7 @@ RigidBodyComponentSystem.prototype.raycastFirst = function (start, end, options)
 };
 
 RigidBodyComponentSystem.prototype.raycastAll = function (start, end, options = {}) {
-    Debug.deprecated('pc.RigidBodyComponentSystem#raycastAll is deprecated. Use pc.RigidBodyComponentSystem#raycast instead.');
+    Debug.deprecated('pc.RigidBodyComponentSystem#raycastAll is deprecated. Use pc.RigidBodyComponentSystem#raycast with findAll option instead.');
     return this.raycast(start, end, Object.assign(options, { findAll: true }));
 };
 
diff --git a/src/framework/components/camera/component.js b/src/framework/components/camera/component.js
index 6949ba5a669..1806e56a168 100644
--- a/src/framework/components/camera/component.js
+++ b/src/framework/components/camera/component.js
@@ -782,9 +782,10 @@ class CameraComponent extends Component {
      * const end = entity.camera.screenToWorld(clickX, clickY, entity.camera.farClip);
      *
      * // Use the ray coordinates to perform a raycast
-     * app.systems.rigidbody.raycastFirst(start, end, function (result) {
+     * const result = app.systems.rigidbody.raycast(start, end)[0];
+     * if (result) {
      *     console.log("Entity " + result.entity.name + " was selected");
-     * });
+     * }
      * @returns {import('../../../core/math/vec3.js').Vec3} The world space coordinate.
      */
     screenToWorld(screenx, screeny, cameraz, worldCoord) {
diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index c505acbbe78..2b243e8d2b0 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -591,7 +591,7 @@ class RigidBodyComponentSystem extends ComponentSystem {
      *         [ "carnivore", "reptile" ]
      *     ],
      *     filterCallback: (entity) => entity && entity.anim
-     * });
+     * })[0];
      */
     raycast(start, end, options = {}) {
         Debug.assert(Ammo.AllHitsRayResultCallback, 'pc.RigidBodyComponentSystem#raycast: Your version of ammo.js does not expose Ammo.AllHitsRayResultCallback. Update it to latest.');

From 7a642a8f471b44f689be6e09fd3f16bdd42eb0d0 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 31 May 2024 09:26:30 +0100
Subject: [PATCH 53/54] Removed extra Ammo.destroy

---
 src/framework/components/rigid-body/system.js | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 2b243e8d2b0..651a27cbb88 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -668,8 +668,6 @@ class RigidBodyComponentSystem extends ComponentSystem {
             }
         }
 
-        Ammo.destroy(ammoRayStart);
-        Ammo.destroy(ammoRayEnd);
         Ammo.destroy(rayCallback);
         return results;
     }

From 972c1f772fae1c03b66170b6a06c86fc2d71f4d6 Mon Sep 17 00:00:00 2001
From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com>
Date: Fri, 31 May 2024 09:52:25 +0100
Subject: [PATCH 54/54] Fixed documentation and line width

---
 src/framework/components/rigid-body/system.js | 88 ++++++++++++-------
 1 file changed, 56 insertions(+), 32 deletions(-)

diff --git a/src/framework/components/rigid-body/system.js b/src/framework/components/rigid-body/system.js
index 651a27cbb88..09a52c186ff 100644
--- a/src/framework/components/rigid-body/system.js
+++ b/src/framework/components/rigid-body/system.js
@@ -289,7 +289,8 @@ const _schema = ['enabled'];
  * Creates a new shape.
  *
  * @param {string} name - Name of the shape. Must start with capital letter.
- * @param {number} [axis] - The local space axis with which the shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
+ * @param {number} [axis] - The local space axis with which the shape's length is aligned.
+ * 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
  * @param {...any} [args] - Arguments to pass to creation.
  * @returns {object} Created Ammo.btCollisionShape.
  * @ignore
@@ -551,38 +552,42 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * @param {Vec3} start - The world space point where the ray starts.
      * @param {Vec3} end - The world space point where the ray ends.
      * @param {object} [options] - The additional options for the raycasting.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
-     * first. Defaults to false.
+     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with
+     * closest first. Defaults to false.
      * @param {number} [options.filterCollisionGroup] - Collision group to apply to the raycast.
      * @param {number} [options.filterCollisionMask] - Collision mask to apply to the raycast.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a
+     * {@link Tags#has} query but within an array.
      * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
      * Must return true to proceed with result. Takes the entity to evaluate as argument.
-     * @param {boolean} [options.findAll] - Whether to return all results. When false will return only
-     * the closest result. Defaults to false.
+     * @param {boolean} [options.findAll] - Whether to return all results. When false will return
+     * only the closest result. Defaults to false.
      *
      * @returns {HitResult[]} An array of raycast hit results (0 length if there were no hits).
      *
      * @example
-     * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
-     * const hits = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), { findAll: true });
+     * // Return all results of a raycast between (0, 2, 2) and (0, -2, -2)
+     * const hits = this.app.systems.rigidbody.raycast(
+     *     new Vec3(0, 2, 2),
+     *     new Vec3(0, -2, -2),
+     *     { findAll: true }
+     * );
      * @example
-     * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
+     * // Return all results of a raycast between (0, 2, 2) and (0, -2, -2)
      * // where hit entity is tagged with `bird` OR `mammal`
      * const hits = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
      *     filterTags: [ "bird", "mammal" ],
      *     findAll: true
      * });
      * @example
-     * // Return all results of a raycast between 0, 2, 2 and 0, -2, -2
+     * // Return all results of a raycast between (0, 2, 2) and (0, -2, -2)
      * // where hit entity has a `camera` component
      * const hits = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
      *     filterCallback: (entity) => entity && entity.camera,
      *     findAll: true
      * });
      * @example
-     * // Return the closest result of a raycast between 0, 2, 2 and 0, -2, -2
+     * // Return the closest result of a raycast between (0, 2, 2) and (0, -2, -2)
      * // where hit entity is tagged with (`carnivore` AND `mammal`) OR (`carnivore` AND `reptile`)
      * // and the entity has an `anim` component
      * const hit = this.app.systems.rigidbody.raycast(new Vec3(0, 2, 2), new Vec3(0, -2, -2), {
@@ -677,34 +682,38 @@ class RigidBodyComponentSystem extends ComponentSystem {
      * It returns an array of {@link HitResult}. If no hits are
      * detected, the returned array will be of length 0.
      *
-     * @param {object} shape - The shape to use for collision. Can be a btCollisionShape or shape config.
+     * @param {object} shape - The shape to use for collision. Can be a btCollisionShape
+     * or shape config.
      * @param {number} [shape.axis] - The local space axis with which the capsule, cylinder or
      * cone shape's length is aligned. 0 for X, 1 for Y and 2 for Z. Defaults to 1 (Y-axis).
      * @param {Vec3} [shape.halfExtents] - The half-extents of the box in the x, y and z axes.
-     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from tip to tip.
-     * @param {string} shape.type - The type of shape to use. Available options are "box", "capsule",
-     * "cone", "cylinder" or "sphere".
+     * @param {number} [shape.height] - The total height of the capsule, cylinder or cone from
+     * tip to tip.
+     * @param {string} shape.type - The type of shape to use. Available options are "box",
+     * "capsule", "cone", "cylinder" or "sphere".
      * @param {number} [shape.radius] - The radius of the sphere, capsule, cylinder or cone.
      * @param {Vec3} startPosition - The world space position for the shape to be at start.
-     * @param {Vec3|Quat} [startRotation] - The world space rotation for the shape to have at start.
+     * @param {Vec3|Quat} [startRotation] - The world space rotation for the shape to have
+     * at start.
      * @param {Vec3} [endPosition] - The world space position for the shape to be at end.
      * @param {object} [options] - The additional options for the shape casting.
-     * @param {Vec3|Quat} [options.endRotation] - The world space rotation for the shape to have at end.
-     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with closest
-     * first. Defaults to false.
+     * @param {Vec3|Quat} [options.endRotation] - The world space rotation for the shape to have
+     * at end.
+     * @param {boolean} [options.sort] - Whether to sort raycast results based on distance with
+     * closest first. Defaults to false.
      * @param {number} [options.filterCollisionGroup] - Collision group to apply to the shape cast.
      * @param {number} [options.filterCollisionMask] - Collision mask to apply to the shape cast.
-     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a {@link Tags#has}
-     * query but within an array. Only available if shape is not having different ending transform from
-     * starting one.
+     * @param {any[]} [options.filterTags] - Tags filters. Defined the same way as a
+     * {@link Tags#has} query but within an array. Only available if shape is not having different
+     * ending transform from starting one.
      * @param {Function} [options.filterCallback] - Custom function to use to filter entities.
-     * Must return true to proceed with result. Takes the entity to evaluate as argument. Only available
-     * if shape is not having different ending transform from starting one.
+     * Must return true to proceed with result. Takes the entity to evaluate as argument. Only
+     * available if shape is not having different ending transform from starting one.
      * @param {boolean} [options.destroyShape] - Whether to destroy the shape after the cast.
      * Defaults to false, forced true when shape is not a btCollisionShape.
-     * @param {boolean} [options.findAll] - Whether to return all results. When false will return only
-     * the closest result. Defaults to false. Only available if shape is not having different ending
-     * transform from starting one.
+     * @param {boolean} [options.findAll] - Whether to return all results. When false will return
+     * only the closest result. Defaults to false. Only available if shape is not having different
+     * ending transform from starting one.
      *
      * @returns {HitResult[]} An array of shapeCast hit results (0 length if there were no hits).
      */
@@ -714,7 +723,12 @@ class RigidBodyComponentSystem extends ComponentSystem {
         let btShape;
         switch (shape.type) {
             case 'box':
-                ammoVec3.setValue(shape.halfExtents?.x ?? 0.5, shape.halfExtents?.y ?? 0.5, shape.halfExtents?.z ?? 0.5);
+                ammoVec3.setValue(
+                    shape.halfExtents?.x ?? 0.5,
+                    shape.halfExtents?.y ?? 0.5,
+                    shape.halfExtents?.z ?? 0.5
+                );
+
                 btShape = new Ammo.btBoxShape(ammoVec3);
                 options.destroyShape = true;
                 break;
@@ -779,7 +793,13 @@ class RigidBodyComponentSystem extends ComponentSystem {
                 resultCallback.set_m_collisionFilterMask(options.filterCollisionMask);
             }
 
-            this.app.systems.rigidbody.dynamicsWorld.convexSweepTest(btShape, ammoTransform, ammoTransform2, resultCallback);
+            this.app.systems.rigidbody.dynamicsWorld.convexSweepTest(
+                btShape,
+                ammoTransform,
+                ammoTransform2,
+                resultCallback
+            );
+
             if (resultCallback.hasHit()) {
                 const body = Ammo.castObject(resultCallback.get_m_hitCollisionObject(), Ammo.btRigidBody);
 
@@ -825,7 +845,10 @@ class RigidBodyComponentSystem extends ComponentSystem {
         const resultCallback = new Ammo.ConcreteContactResultCallback();
         resultCallback.addSingleResult = function (cp, colObj0Wrap, partId0, index0, colObj1Wrap, p1, index1) {
             // Retrieve collided entity.
-            const body1 = Ammo.castObject(Ammo.wrapPointer(colObj1Wrap, Ammo.btCollisionObjectWrapper).getCollisionObject(), Ammo.btRigidBody);
+            const body1 = Ammo.castObject(
+                Ammo.wrapPointer(colObj1Wrap, Ammo.btCollisionObjectWrapper).getCollisionObject(),
+                Ammo.btRigidBody
+            );
 
             // Make sure there is an existing entity.
             if (body1.entity) {
@@ -851,7 +874,8 @@ class RigidBodyComponentSystem extends ComponentSystem {
                             body1.entity,
                             pointVec,
                             new Vec3(normal.x(), normal.y(), normal.z()),
-                            startDistance / (startDistance - distance), // Minus distance as it's negative.
+                            // Minus distance as it's negative.
+                            startDistance / (startDistance - distance),
                             startDistance
                         )
                     );