change bullet from wasi to wasm (#440)

Co-authored-by: lealzhan <lealzhan@users.noreply.github.com>

emscripten/box2d/b2.d.ts

@@ -273,7 +273,7 @@ declare namespace B2 {
         IsEnabled(): boolean;
         SetFixedRotation(flag: boolean): void;
         IsFixedRotation(): boolean;
-        GetFixtureList(): Fixture;
+        GetFixtureList(): number;
         GetJointList(): number;
         GetWorld(): World;
         Dump(): void;
@@ -513,10 +513,10 @@ declare namespace B2 {
         SetMaxMotorTorque(torque: number): void;
         GetMaxMotorTorque(): number;
         GetMotorTorque(inv_dt: number): number;
-        SetFrequency(hz: number): void;
-        GetFrequency(): number;
-        SetDampingRatio(ratio: number): void;
-        GetDampingRatio(): number;
+        SetSpringFrequencyHz(hz: number): void;
+        GetSpringFrequencyHz(): number;
+        SetSpringDampingRatio(ratio: number): void;
+        GetSpringDampingRatio(): number;
         Dump(): void;
     }
 
@@ -537,6 +537,7 @@ declare namespace B2 {
     function ContactSetRestitution(contactPtr: number, restitution: number): void;
     function ContactGetRestitution(contactPtr: number): number;
     function ContactResetRestitution(contactPtr: number): void;
+    function ContactGetFixtureA(contactPtr: number): Vec2;
     function ContactGetFixtureA(contactPtr: number): number;
     function ContactGetFixtureB(contactPtr: number): number;
     function ContactGetWorldManifold(contactPtr: number, worldManifoldPtr: number): number;
@@ -576,4 +577,71 @@ declare namespace B2 {
     function JointEdgeGetJoint(jointEdgePtr: number): number;
     function JointEdgeGetPrev(jointEdgePtr: number): number;
     function JointEdgeGetNext(jointEdgePtr: number): number;
+
+    //FixtureDef
+    function FixtureDefNew(): number;
+    function FixtureDefDelete(fixtureDefPtr: number): void;
+    function FixtureDefSetAll(fixtureDefPtr: number, shapePtr: number, userData: number,
+        friction: number, restitution: number, density: number, isSensor: boolean): void;
+
+    //Fixture
+    function FixtureGetType(fixturePtr: number): number;
+    function FixtureGetShape(fixturePtr: number): number;
+    function FixtureSetSensor(fixturePtr: number, sensor: boolean): void;
+    function FixtureIsSensor(fixturePtr: number): boolean;
+    function FixtureSetFilterData(fixturePtr: number, filterPtr: number): void;
+    function FixtureGetFilterData(fixturePtr: number): number;
+    function FixtureRefilter(fixturePtr: number): void;
+    function FixtureGetBody(fixturePtr: number): number;
+    function FixtureGetNext(fixturePtr: number): number;
+    function FixtureTestPoint(fixturePtr: number, p: Vec2): boolean;
+    // function FixtureRayCast(fixturePtr: number, outputPtr: number, inputPtr: number, childIndex: number): boolean;
+    // function FixtureGetMassData(fixturePtr: number, massDataPtr: number): void;
+    function FixtureSetDensity(fixturePtr: number, density: number): void;
+    function FixtureGetDensity(fixturePtr: number): number;
+    function FixtureGetFriction(fixturePtr: number): number;
+    function FixtureSetFriction(fixturePtr: number, friction: number): void;
+    function FixtureGetRestitution(fixturePtr: number): number;
+    function FixtureSetRestitution(fixturePtr: number, restitution: number): void;
+    function FixtureGetAABB(fixturePtr: number, childIndex: number): number;
+    function FixtureDump(fixturePtr: number, bodyIndex: number): void;
+
+    //Shape
+    function ShapeGetRadius(shapePtr: number): number;
+    function ShapeSetRadius(shapePtr: number, radius: number): void;
+    function ShapeGetType(shapePtr: number): number;
+    function ShapeGetChildCount(shapePtr: number): number;
+    function ShapeTestPoint(shapePtr: number, transformPtr: number, p: Vec2): boolean;
+    // function ShapeRayCast(shapePtr: number, outputPtr: number, inputPtr: number, transformPtr: number, childIndex: number): boolean;
+    // function ShapeComputeAABB(shapePtr: number, aabbPtr: number, transformPtr: number, childIndex: number): void;
+    // function ShapeComputeMass(shapePtr: number, massDataPtr: number, density: number): void;
+
+    //CircleShape
+    function CircleShapeNew(): number;
+    function CircleShapeDelete(circleShapePtr: number): void;
+    function CircleShapeSetPosition(circleShapePtr: number, positionPtr: number): void;
+    function CircleShapeGetPosition(circleShapePtr: number): number;
+
+    //PolygonShape
+    function PolygonShapeNew(): number;
+    function PolygonShapeDelete(polygonShapePtr: number): void;
+    function PolygonShapeSet(polygonShapePtr: number, verticesPtr: number, count: number): void;
+    function PolygonShapeSetAsBox(polygonShapePtr: number, hx: number, hy: number): void;
+    function PolygonShapeSetAsBoxWithCenterAndAngle(polygonShapePtr: number, hx: number, hy: number, centerPtr: number, angle: number): void;
+    function PolygonShapeGetVertexCount(polygonShapePtr: number): number;
+
+    //Body
+    function BodyCreateFixture(bodyPtr: number, fixtureDefPtr: number): number;
+    function BodyCreateFixtureWithShape(bodyPtr: number, shapePtr: number, density: number): number;
+
+    //Vec2Vector
+    function Vec2VectorNew(): number;
+    function Vec2VectorDelete(vec2VectorPtr: number): void;
+    function Vec2VectorPush(vec2VectorPtr: number, vec2Ptr: number): void;
+    function Vec2VectorSize(vec2VectorPtr: number): number;
+    function Vec2VectorGet(vec2VectorPtr: number, index: number): number;
+    function Vec2VectorGetPtr(vec2VectorPtr: number, index: number): number;
+    function Vec2VectorResize(vec2VectorPtr: number, size: number): void;
+    function Vec2VectorClear(vec2VectorPtr: number): void;
+
 }

emscripten/bullet/bullet.d.ts

@@ -1,11 +1,31 @@
-declare module 'external:emscripten/bullet/bullet.asm.js' {
-    function factory (env: any, wasmMemory: ArrayBuffer): Bullet.instance;
-    export default factory;
+declare module 'external:emscripten/bullet/bullet.release.asm.js' {
+    export default Bullet;
 }
 
+declare module 'external:emscripten/bullet/bullet.release.wasm.js' {
+    export default Bullet;
+}
+
+// tslint:disable
+declare function Bullet (moduleOptions?: any): Promise<void>;
+
 declare namespace Bullet {
     type ptr = number;
     interface instance {
+        HEAP8: Int8Array;
+        HEAP16: Int16Array;
+        HEAP32: Int32Array;
+        HEAPU8: Uint8Array;
+        HEAPU16: Uint16Array;
+        HEAPU32: Uint32Array;
+        HEAPF32: Float32Array;
+        HEAPF64: Float64Array;
+
+        // class interface
+        DebugDraw: any;
+        ControllerHitReport: any;
+        MotionState: any;
+
         _malloc(bytes: number): ptr;
         _free(p: ptr): void;
         _read_f32(p: ptr): void;
@@ -34,6 +54,7 @@ declare namespace Bullet {
         MotionState_getWorldTransform(p: ptr, transform: ptr): void;
         MotionState_setWorldTransform(p: ptr, transform: ptr): void;
         ccMotionState_new(id: number, initTrans: ptr): ptr;
+        ccMotionState_setup(p: ptr, id: number, initTrans: ptr): void;
 
         int_array_size(p: ptr): number;
         int_array_at(p: ptr, index: number): number;
@@ -113,7 +134,7 @@ declare namespace Bullet {
         TerrainShape_new(i: number, j: number, p: ptr, hs: number, min: number, max: number): ptr;
 
         TriangleMesh_new(): ptr;
-        TriangleMesh_addTriangle(p: ptr, v0: ptr, v1: ptr, v2: ptr): void;
+        TriangleMesh_addTriangle(p: ptr, v0: ptr, v1: ptr, v2: ptr, removeDuplicateVertices: boolean): void;
         BvhTriangleMeshShape_new(p: ptr, c: boolean, bvh: boolean): ptr;
         BvhTriangleMeshShape_getOptimizedBvh(p: ptr): ptr;
         BvhTriangleMeshShape_setOptimizedBvh(p: ptr, p1: ptr, scaleX: number, scaleY: number, scaleZ: number);
@@ -144,6 +165,7 @@ declare namespace Bullet {
         CollisionObject_isKinematicObject(p: ptr): boolean;
         CollisionObject_isStaticObject(p: ptr): boolean;
         CollisionObject_isStaticOrKinematicObject(p: ptr): boolean;
+        CollisionObject_isSleeping(p: ptr): boolean;
         CollisionObject_getWorldTransform(p: ptr): ptr;
         CollisionObject_getCollisionFlags(p: ptr): number;
         CollisionObject_setCollisionFlags(p: ptr, flags: number): void;
@@ -180,6 +202,8 @@ declare namespace Bullet {
         RigidBody_applyTorque(p: ptr, f: ptr): void;
         RigidBody_applyForce(p: ptr, f: ptr, rp: ptr): void;
         RigidBody_applyImpulse(p: ptr, f: ptr, rp: ptr): void;
+        RigidBody_getWorldTransform(p: ptr, transform: ptr): void;
+        Transform_getRotationAndOrigin(transform: ptr, q: ptr): ptr;
 
         // dynamic
 

emscripten/physx/physx.d.ts

@@ -8,6 +8,10 @@ declare module 'external:emscripten/physx/physx.release.wasm.js' {
   export default PhysX;
 }
 
+declare module 'external:emscripten/physx/physx.debug.wasm.js' {
+    export default PhysX;
+}
+
 // tslint:disable
 declare function PhysX (moduleOptions?: any): Promise<void>;
 

emscripten/physx/physx.debug.wasm.js

@@ -3367,6 +3367,11 @@ var stackAlloc = function() {
   return (stackAlloc = Module["asm"]["stackAlloc"]).apply(null, arguments);
 };
 
+/** @type {function(...*):?} */
+var dynCall_ji = Module["dynCall_ji"] = function() {
+  return (dynCall_ji = Module["dynCall_ji"] = Module["asm"]["dynCall_ji"]).apply(null, arguments);
+};
+
 /** @type {function(...*):?} */
 var dynCall_iifiiiijii = Module["dynCall_iifiiiijii"] = function() {
   return (dynCall_iifiiiijii = Module["dynCall_iifiiiijii"] = Module["asm"]["dynCall_iifiiiijii"]).apply(null, arguments);
@@ -3407,11 +3412,6 @@ var dynCall_viiiij = Module["dynCall_viiiij"] = function() {
   return (dynCall_viiiij = Module["dynCall_viiiij"] = Module["asm"]["dynCall_viiiij"]).apply(null, arguments);
 };
 
-/** @type {function(...*):?} */
-var dynCall_ji = Module["dynCall_ji"] = function() {
-  return (dynCall_ji = Module["dynCall_ji"] = Module["asm"]["dynCall_ji"]).apply(null, arguments);
-};
-
 /** @type {function(...*):?} */
 var dynCall_jiji = Module["dynCall_jiji"] = function() {
   return (dynCall_jiji = Module["dynCall_jiji"] = Module["asm"]["dynCall_jiji"]).apply(null, arguments);