update bullet, physx for debug draw (#419) (#423)

emscripten/bullet/bullet.d.ts

@@ -42,6 +42,8 @@ declare namespace Bullet {
         // constraints
 
         TypedConstraint_getFixedBody(): ptr;
+        TypedConstraint_getDbgDrawSize(): number;
+        TypedConstraint_setDbgDrawSize(p: ptr, dbgDrawSize: number): void;
         HingeConstraint_new(ptr0: ptr, ptr1: ptr, ptr2: ptr, ptr3: ptr): ptr;
         HingeConstraint_setFrames(ptr0: ptr, ptr1: ptr, ptr2: ptr): void;
         HingeConstraint_setLimit(p: ptr, low: number, upper: number, softness: number, biasFactor: number, relaxationFactor: number): void;
@@ -208,6 +210,8 @@ declare namespace Bullet {
         CollisionWorld_removeCollisionObject(p: ptr, body: ptr): void;
         CollisionWorld_rayTest(p: ptr, p0: ptr, p1: ptr, p2: ptr): void;
         CollisionWorld_convexSweepTest(p: ptr, castShape: ptr, from: ptr, to: ptr, resultCallback: ptr, allowedCcdPenetration: ptr): void;
+        CollisionWorld_setDebugDrawer(p: ptr, drawer: ptr): void;
+        CollisionWorld_debugDrawWorld(p: ptr): void;
 
         ccDiscreteDynamicsWorld_new(dispatcher: ptr, pairCache: ptr, solver: ptr): ptr;
         ccDiscreteDynamicsWorld_setAllowSleep(p: ptr, v: boolean): void;
@@ -220,6 +224,18 @@ declare namespace Bullet {
         DynamicsWorld_addAction(p: ptr, action: ptr): void;
         DynamicsWorld_removeAction(p: ptr, action: ptr): void;
 
+        DebugDraw_new(): ptr;
+        DebugDraw_setDebugMode(p: ptr, debugMode: number): void;
+        DebugDraw_getDebugMode(p: ptr): number;
+        DebugDraw_setActiveObjectColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setDeactiveObjectColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setWantsDeactivationObjectColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setDisabledDeactivationObjectColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setDisabledSimulationObjectColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setAABBColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setContactPointColor(p: ptr, r: number, g: number, b: number): void;
+        DebugDraw_setConstraintLimitColor(p: ptr, r: number, g: number, b: number): void;
+
         RayCallback_hasHit(p: ptr): boolean;
         ConvexCallback_hasHit(p: ptr): boolean;
 
@@ -263,7 +279,7 @@ declare namespace Bullet {
         ControllerHit_getHitMotionLength(p: ptr): number;   //CCT hit Motion length
         ControllerShapeHit_getHitShape(p: ptr): ptr;
         ControllerShapeHit_getHitCollisionObject(p: ptr): ptr;
-        CharacterController_move(ptrCCT: ptr, ptrMovement: ptr, minDist: number, deltaTime: number):number;
+        CharacterController_move(ptrCCT: ptr, ptrMovement: ptr, minDist: number, deltaTime: number): number;
         CharacterController_getPosition(ptrCCT: ptr);
         CharacterController_setContactOffset(ptrCCT: ptr, v: number);
         CharacterController_setStepOffset(ptrCCT: ptr, v: number);

emscripten/physx/phy.d.ts

@@ -1,4 +1,3 @@
-
 interface Vec3 {
     x: number, y: number, z: number
 }
@@ -17,7 +16,7 @@ interface FilterData {
 declare namespace phy {
     /// Base ///
 
-    const physics: Physics
+    const physics: Physics;
     abstract class Physics {
         private constructor ()
         createCooking (cp: CookingParams): Cooking
@@ -350,8 +349,6 @@ declare namespace phy {
 
     /// Joints ///
 
-
-
     /// Extensions ///
 
     interface Spring {
@@ -615,22 +612,22 @@ declare namespace phy {
 
     class SceneQueryHit {
         private constructor ()
-        actor: RigidActor
-        shape: Shape
-        faceIndex: number
+        actor: RigidActor;
+        shape: Shape;
+        faceIndex: number;
     }
 
     class RayCastHit {
         private constructor ()
-        actor: RigidActor
-        shape: Shape
-        faceIndex: number
-        u: number
-        v: number
-        normal: Vec3
-        position: Vec3
-        distance: number
-        flags: number
+        actor: RigidActor;
+        shape: Shape;
+        faceIndex: number;
+        u: number;
+        v: number;
+        normal: Vec3;
+        position: Vec3;
+        distance: number;
+        flags: number;
     }
 
     type preFilter = (filterData: FilterData, shape: Shape, actor: RigidActor, hitFlags: number) => QueryHitType
@@ -942,12 +939,16 @@ declare namespace phy {
         */
         eRIGID_DYNAMIC,
 
-
         eARTICULATION_LINK
     }
 
     enum ActorFlag {
         /**
+        \brief Enable debug renderer for this actor
+        @see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
+        */
+        eVISUALIZATION = (1 << 0),
+
         /**
         \brief Disables scene gravity for this actor
         */
@@ -1149,8 +1150,6 @@ declare namespace phy {
         PxConvexMeshCookingType::eINFLATION_INCREMENTAL_HULL is set. The default algorithm
         PxConvexMeshCookingType::eQUICK_HULL ignores this flag, inflation is not used.
 
- 
-
         /**
         \brief Quantizes the input vertices using the k-means clustering
 
@@ -1194,7 +1193,6 @@ declare namespace phy {
         */
         eFAST_INERTIA_COMPUTATION = (1 << 7),
 
-
         /**
         \brief Convex hull input vertices are shifted to be around origin to provide better computation stability.
         It is recommended to provide input vertices around the origin, otherwise use this flag to improve
@@ -1351,7 +1349,6 @@ declare namespace phy {
         */
         eARTICULATION = 4,
 
-
     }
 
     enum FilterObjectFlag {