Physics update

.eslintrc.js

@@ -94,8 +94,6 @@ module.exports = {
     "dist",
     // Ignore webpack config files
     "/configs",
-    // Ignore included ammo.js library
-    "/src/ammo.js",
     // Ignore static files
     "/static",
     // Ignore dependencies

.gitmodules

@@ -7,6 +7,4 @@
 [submodule "dependencies/emsdk"]
 	path = dependencies/emsdk
 	url = https://github.com/emscripten-core/emsdk
-[submodule "dependencies/ammo.js"]
-	path = dependencies/ammo.js
-	url = https://github.com/kipr/ammo.js
+

configs/webpack/common.js

@@ -17,7 +17,6 @@ try {
 
 const modules = ['node_modules'];
 if (dependencies.cpython) modules.push(resolve(dependencies.cpython));
-if (dependencies.ammo) modules.push(resolve(dependencies.ammo));
 
 let libkiprCDocumentation = undefined;
 if (dependencies.libkipr_c_documentation) {
@@ -142,7 +141,6 @@ module.exports = {
       SIMULATOR_VERSION: JSON.stringify(require('../../package.json').version),
       SIMULATOR_GIT_HASH: JSON.stringify(commitHash),
       SIMULATOR_HAS_CPYTHON: JSON.stringify(dependencies.cpython !== undefined),
-      SIMULATOR_HAS_AMMO: JSON.stringify(dependencies.ammo !== undefined),
       SIMULATOR_LIBKIPR_C_DOCUMENTATION: JSON.stringify(libkiprCDocumentation),
       SIMULATOR_I18N: JSON.stringify(i18n),
     }),

dependencies/build.py

@@ -7,27 +7,27 @@
 import multiprocessing
 
 def is_tool(name):
-  """Check whether `name` is on PATH and marked as executable."""
-  from shutil import which
-  return which(name) is not None
+    """Check whether `name` is on PATH and marked as executable."""
+    from shutil import which
+    return which(name) is not None
 
 # Sanity checks
 
 if not is_tool('cmake'):
-  print('CMake is not installed. Please install CMake and try again.')
-  exit(1)
+    print('CMake is not installed. Please install CMake and try again.')
+    exit(1)
 
 if not is_tool('make'):
-  print('Make is not installed. Please install Make and try again.')
-  exit(1)
+    print('Make is not installed. Please install Make and try again.')
+    exit(1)
 
 if not is_tool('swig'):
-  print('SWIG is not installed. Please install SWIG and try again.')
-  exit(1)
+    print('SWIG is not installed. Please install SWIG and try again.')
+    exit(1)
 
 if not is_tool('doxygen'):
-  print('Doxygen is not installed. Please install Doxygen and try again.')
-  exit(1)
+    print('Doxygen is not installed. Please install Doxygen and try again.')
+    exit(1)
 
 working_dir = pathlib.Path(__file__).parent.absolute()
 
@@ -116,31 +116,31 @@ def is_tool(name):
 
 print('Applying cpython patches...')
 for patch_file in (working_dir / 'cpython_patches').glob('*.patch'):
-  print('Applying patch:', patch_file)
-  with open(patch_file) as patch:
-    subprocess.run(
-      ['patch', '-p0', '--forward'],
-      stdin = patch,
-      cwd = working_dir
-    )
+    print('Applying patch:', patch_file)
+    with open(patch_file) as patch:
+        subprocess.run(
+            ['patch', '-p0', '--forward'],
+            stdin = patch,
+            cwd = working_dir
+        )
 
 print('Finding latest host python...')
 
 python = 'python3'
 if is_tool('python3.12'):
-  python = 'python3.12'
+    python = 'python3.12'
 elif is_tool('python3.11'):
-  python = 'python3.11'
+    python = 'python3.11'
 elif is_tool('python3.10'):
-  python = 'python3.10'
+    python = 'python3.10'
 elif is_tool('python3.9'):
-  python = 'python3.9'
+    python = 'python3.9'
 elif is_tool('python3.8'):
-  python = 'python3.8'
+    python = 'python3.8'
 elif is_tool('python3.7'):
-  python = 'python3.7'
+    python = 'python3.7'
 else:
-  print('Warning: Python 3.7+ could not be found. Using python3. This might not work.')
+    print('Warning: Python 3.7+ could not be found. Using python3. This might not work.')
 
 print(f'Building cpython with {python}...')
 subprocess.run(
@@ -196,31 +196,31 @@ def is_tool(name):
   env = env
 )
 
-print('Configuring ammo.js...')
-ammo_dir = working_dir / 'ammo.js'
-ammo_build_dir = working_dir / 'ammo_build'
-os.makedirs(ammo_build_dir, exist_ok=True)
-subprocess.run(
-  [
-    'emcmake',
-    'cmake',
-    '-DCLOSURE=1',
-    '-DTOTAL_MEMORY=268435456',
-    '-DALLOW_MEMORY_GROWTH=1',
-    ammo_dir
-  ],
-  cwd = ammo_build_dir,
-  check = True,
-  env = env
-)
-
-print('Building ammo.js...')
-subprocess.run(
-  [ 'emmake', 'make', f'-j{multiprocessing.cpu_count()}' ],
-  cwd = ammo_build_dir,
-  check = True,
-  env = env
-)
+# print('Configuring ammo.js...')
+# ammo_dir = working_dir / 'ammo.js'
+# ammo_build_dir = working_dir / 'ammo_build'
+# os.makedirs(ammo_build_dir, exist_ok=True)
+# subprocess.run(
+#   [
+#     'emcmake',
+#     'cmake',
+#     '-DCLOSURE=1',
+#     '-DTOTAL_MEMORY=268435456',
+#     '-DALLOW_MEMORY_GROWTH=1',
+#     ammo_dir
+#   ],
+#   cwd = ammo_build_dir,
+#   check = True,
+#   env = env
+# )
+
+# print('Building ammo.js...')
+# subprocess.run(
+#   [ 'emmake', 'make', f'-j{multiprocessing.cpu_count()}' ],
+#   cwd = ammo_build_dir,
+#   check = True,
+#   env = env
+# )
 
 print('Generating JSON documentation...')
 libkipr_c_documentation_json = f'{libkipr_build_c_dir}/documentation/json.json'
@@ -244,9 +244,9 @@ def is_tool(name):
   'libkipr_c': f'{libkipr_install_c_dir}',
   'libkipr_python': f'{libkipr_build_python_dir}',
   'cpython': f'{cpython_emscripten_build_dir}',
-  'ammo': f'{ammo_build_dir}',
+  # 'ammo': f'{ammo_build_dir}',
   "libkipr_c_documentation": libkipr_c_documentation_json,
 })
 
 with open(working_dir / 'dependencies.json', 'w') as f:
-  f.write(output)
+    f.write(output)

package.json

@@ -1,6 +1,6 @@
 {
   "name": "simulator",
-  "version": "1.3.0",
+  "version": "1.4.0",
   "sideEffects": false,
   "main": "dist/index.js",
   "author": "KISS Institute for Practical Robotics",
@@ -53,14 +53,15 @@
     "webpack-merge": "^5.7.3"
   },
   "dependencies": {
-    "@babylonjs/core": "^5.22.1",
-    "@babylonjs/loaders": "^5.22.1",
+    "@babylonjs/core": "^6.14.0",
+    "@babylonjs/loaders": "^6.14.0",
+    "@babylonjs/havok": "^1.0.0",
     "@fortawesome/fontawesome-svg-core": "^6.2.0",
     "@fortawesome/free-brands-svg-icons": "^6.2.0",
     "@fortawesome/free-solid-svg-icons": "^6.2.0",
     "@fortawesome/react-fontawesome": "^0.2.0",
     "@types/react": "^16.9.25",
-    "babylonjs-gltf2interface": "^5.22.0",
+    "babylonjs-gltf2interface": "^6.14.0",
     "body-parser": "^1.19.0",
     "colorjs.io": "^0.4.2",
     "connected-react-router": "^6.9.3",