490 lines
16 KiB
TypeScript
490 lines
16 KiB
TypeScript
import { Vector, Rotation } from "../math";
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import { RawColliderSet, RawShape } from "../raw";
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import { ShapeContact } from "./contact";
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import { PointProjection } from "./point";
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import { Ray, RayIntersection } from "./ray";
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import { ShapeTOI } from "./toi";
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import { ColliderHandle } from "./collider";
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export declare abstract class Shape {
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abstract intoRaw(): RawShape;
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/**
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* The concrete type of this shape.
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*/
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abstract get type(): ShapeType;
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/**
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* instant mode without cache
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*/
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static fromRaw(rawSet: RawColliderSet, handle: ColliderHandle): Shape;
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/**
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* Computes the time of impact between two moving shapes.
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* @param shapePos1 - The initial position of this sahpe.
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* @param shapeRot1 - The rotation of this shape.
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* @param shapeVel1 - The velocity of this shape.
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* @param shape2 - The second moving shape.
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* @param shapePos2 - The initial position of the second shape.
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* @param shapeRot2 - The rotation of the second shape.
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* @param shapeVel2 - The velocity of the second shape.
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* @param maxToi - The maximum time when the impact can happen.
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* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
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* the shape is penetrating another shape at its starting point **and** its trajectory is such
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* that it’s on a path to exist that penetration state.
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* @returns If the two moving shapes collider at some point along their trajectories, this returns the
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* time at which the two shape collider as well as the contact information during the impact. Returns
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* `null`if the two shapes never collide along their paths.
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*/
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castShape(shapePos1: Vector, shapeRot1: Rotation, shapeVel1: Vector, shape2: Shape, shapePos2: Vector, shapeRot2: Rotation, shapeVel2: Vector, maxToi: number, stopAtPenetration: boolean): ShapeTOI | null;
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/**
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* Tests if this shape intersects another shape.
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*
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* @param shapePos1 - The position of this shape.
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* @param shapeRot1 - The rotation of this shape.
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* @param shape2 - The second shape to test.
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* @param shapePos2 - The position of the second shape.
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* @param shapeRot2 - The rotation of the second shape.
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* @returns `true` if the two shapes intersect, `false` if they don’t.
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*/
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intersectsShape(shapePos1: Vector, shapeRot1: Rotation, shape2: Shape, shapePos2: Vector, shapeRot2: Rotation): boolean;
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/**
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* Computes one pair of contact points between two shapes.
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*
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* @param shapePos1 - The initial position of this sahpe.
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* @param shapeRot1 - The rotation of this shape.
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* @param shape2 - The second shape.
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* @param shapePos2 - The initial position of the second shape.
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* @param shapeRot2 - The rotation of the second shape.
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* @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.
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* @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
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*/
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contactShape(shapePos1: Vector, shapeRot1: Rotation, shape2: Shape, shapePos2: Vector, shapeRot2: Rotation, prediction: number): ShapeContact | null;
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containsPoint(shapePos: Vector, shapeRot: Rotation, point: Vector): boolean;
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projectPoint(shapePos: Vector, shapeRot: Rotation, point: Vector, solid: boolean): PointProjection;
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intersectsRay(ray: Ray, shapePos: Vector, shapeRot: Rotation, maxToi: number): boolean;
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castRay(ray: Ray, shapePos: Vector, shapeRot: Rotation, maxToi: number, solid: boolean): number;
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castRayAndGetNormal(ray: Ray, shapePos: Vector, shapeRot: Rotation, maxToi: number, solid: boolean): RayIntersection;
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}
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/**
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* An enumeration representing the type of a shape.
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*/
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export declare enum ShapeType {
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Ball = 0,
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Cuboid = 1,
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Capsule = 2,
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Segment = 3,
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Polyline = 4,
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Triangle = 5,
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TriMesh = 6,
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HeightField = 7,
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ConvexPolyhedron = 9,
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Cylinder = 10,
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Cone = 11,
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RoundCuboid = 12,
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RoundTriangle = 13,
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RoundCylinder = 14,
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RoundCone = 15,
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RoundConvexPolyhedron = 16,
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HalfSpace = 17
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}
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/**
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* A shape that is a sphere in 3D and a circle in 2D.
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*/
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export declare class Ball extends Shape {
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readonly type = ShapeType.Ball;
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/**
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* The balls radius.
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*/
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radius: number;
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/**
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* Creates a new ball with the given radius.
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* @param radius - The balls radius.
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*/
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constructor(radius: number);
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intoRaw(): RawShape;
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}
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export declare class HalfSpace extends Shape {
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readonly type = ShapeType.HalfSpace;
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/**
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* The outward normal of the half-space.
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*/
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normal: Vector;
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/**
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* Creates a new halfspace delimited by an infinite plane.
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*
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* @param normal - The outward normal of the plane.
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*/
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constructor(normal: Vector);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a box in 3D and a rectangle in 2D.
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*/
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export declare class Cuboid extends Shape {
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readonly type = ShapeType.Cuboid;
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/**
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* The half extent of the cuboid along each coordinate axis.
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*/
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halfExtents: Vector;
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/**
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* Creates a new 3D cuboid.
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* @param hx - The half width of the cuboid.
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* @param hy - The half height of the cuboid.
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* @param hz - The half depth of the cuboid.
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*/
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constructor(hx: number, hy: number, hz: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a box in 3D and a rectangle in 2D, with round corners.
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*/
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export declare class RoundCuboid extends Shape {
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readonly type = ShapeType.RoundCuboid;
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/**
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* The half extent of the cuboid along each coordinate axis.
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*/
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halfExtents: Vector;
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/**
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* The radius of the cuboid's round border.
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*/
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borderRadius: number;
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/**
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* Creates a new 3D cuboid.
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* @param hx - The half width of the cuboid.
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* @param hy - The half height of the cuboid.
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* @param hz - The half depth of the cuboid.
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* @param borderRadius - The radius of the borders of this cuboid. This will
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* effectively increase the half-extents of the cuboid by this radius.
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*/
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constructor(hx: number, hy: number, hz: number, borderRadius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a capsule.
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*/
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export declare class Capsule extends Shape {
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readonly type = ShapeType.Capsule;
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/**
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* The radius of the capsule's basis.
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*/
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radius: number;
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/**
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* The capsule's half height, along the `y` axis.
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*/
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halfHeight: number;
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/**
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* Creates a new capsule with the given radius and half-height.
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* @param halfHeight - The balls half-height along the `y` axis.
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* @param radius - The balls radius.
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*/
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constructor(halfHeight: number, radius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a segment.
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*/
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export declare class Segment extends Shape {
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readonly type = ShapeType.Segment;
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/**
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* The first point of the segment.
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*/
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a: Vector;
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/**
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* The second point of the segment.
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*/
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b: Vector;
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/**
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* Creates a new segment shape.
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* @param a - The first point of the segment.
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* @param b - The second point of the segment.
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*/
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constructor(a: Vector, b: Vector);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a segment.
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*/
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export declare class Triangle extends Shape {
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readonly type = ShapeType.Triangle;
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/**
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* The first point of the triangle.
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*/
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a: Vector;
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/**
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* The second point of the triangle.
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*/
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b: Vector;
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/**
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* The second point of the triangle.
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*/
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c: Vector;
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/**
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* Creates a new triangle shape.
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*
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* @param a - The first point of the triangle.
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* @param b - The second point of the triangle.
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* @param c - The third point of the triangle.
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*/
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constructor(a: Vector, b: Vector, c: Vector);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a triangle with round borders and a non-zero thickness.
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*/
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export declare class RoundTriangle extends Shape {
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readonly type = ShapeType.RoundTriangle;
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/**
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* The first point of the triangle.
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*/
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a: Vector;
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/**
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* The second point of the triangle.
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*/
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b: Vector;
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/**
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* The second point of the triangle.
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*/
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c: Vector;
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/**
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* The radius of the triangles's rounded edges and vertices.
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* In 3D, this is also equal to half the thickness of the round triangle.
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*/
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borderRadius: number;
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/**
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* Creates a new triangle shape with round corners.
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*
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* @param a - The first point of the triangle.
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* @param b - The second point of the triangle.
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* @param c - The third point of the triangle.
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* @param borderRadius - The radius of the borders of this triangle. In 3D,
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* this is also equal to half the thickness of the triangle.
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*/
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constructor(a: Vector, b: Vector, c: Vector, borderRadius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a triangle mesh.
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*/
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export declare class Polyline extends Shape {
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readonly type = ShapeType.Polyline;
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/**
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* The vertices of the polyline.
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*/
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vertices: Float32Array;
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/**
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* The indices of the segments.
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*/
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indices: Uint32Array;
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/**
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* Creates a new polyline shape.
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*
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* @param vertices - The coordinates of the polyline's vertices.
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* @param indices - The indices of the polyline's segments. If this is `null` or not provided, then
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* the vertices are assumed to form a line strip.
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*/
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constructor(vertices: Float32Array, indices?: Uint32Array);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a triangle mesh.
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*/
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export declare class TriMesh extends Shape {
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readonly type = ShapeType.TriMesh;
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/**
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* The vertices of the triangle mesh.
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*/
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vertices: Float32Array;
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/**
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* The indices of the triangles.
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*/
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indices: Uint32Array;
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/**
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* Creates a new triangle mesh shape.
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*
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* @param vertices - The coordinates of the triangle mesh's vertices.
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* @param indices - The indices of the triangle mesh's triangles.
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*/
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constructor(vertices: Float32Array, indices: Uint32Array);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a convex polygon.
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*/
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export declare class ConvexPolyhedron extends Shape {
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readonly type = ShapeType.ConvexPolyhedron;
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/**
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* The vertices of the convex polygon.
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*/
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vertices: Float32Array;
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/**
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* The indices of the convex polygon.
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*/
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indices?: Uint32Array | null;
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/**
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* Creates a new convex polygon shape.
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*
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* @param vertices - The coordinates of the convex polygon's vertices.
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* @param indices - The index buffer of this convex mesh. If this is `null`
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* or `undefined`, the convex-hull of the input vertices will be computed
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* automatically. Otherwise, it will be assumed that the mesh you provide
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* is already convex.
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*/
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constructor(vertices: Float32Array, indices?: Uint32Array | null);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a convex polygon.
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*/
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export declare class RoundConvexPolyhedron extends Shape {
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readonly type = ShapeType.RoundConvexPolyhedron;
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/**
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* The vertices of the convex polygon.
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*/
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vertices: Float32Array;
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/**
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* The indices of the convex polygon.
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*/
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indices?: Uint32Array;
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/**
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* The radius of the convex polyhedron's rounded edges and vertices.
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*/
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borderRadius: number;
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/**
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* Creates a new convex polygon shape.
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*
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* @param vertices - The coordinates of the convex polygon's vertices.
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* @param indices - The index buffer of this convex mesh. If this is `null`
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* or `undefined`, the convex-hull of the input vertices will be computed
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* automatically. Otherwise, it will be assumed that the mesh you provide
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* is already convex.
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* @param borderRadius - The radius of the borders of this convex polyhedron.
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*/
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constructor(vertices: Float32Array, indices: Uint32Array | null | undefined, borderRadius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a heightfield.
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*/
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export declare class Heightfield extends Shape {
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readonly type = ShapeType.HeightField;
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/**
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* The number of rows in the heights matrix.
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*/
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nrows: number;
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/**
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* The number of columns in the heights matrix.
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*/
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ncols: number;
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/**
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* The heights of the heightfield along its local `y` axis,
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* provided as a matrix stored in column-major order.
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*/
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heights: Float32Array;
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/**
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* The dimensions of the heightfield's local `x,z` plane.
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*/
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scale: Vector;
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/**
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* Creates a new heightfield shape.
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*
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* @param nrows − The number of rows in the heights matrix.
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* @param ncols - The number of columns in the heights matrix.
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* @param heights - The heights of the heightfield along its local `y` axis,
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* provided as a matrix stored in column-major order.
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* @param scale - The dimensions of the heightfield's local `x,z` plane.
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*/
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constructor(nrows: number, ncols: number, heights: Float32Array, scale: Vector);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a 3D cylinder.
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*/
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export declare class Cylinder extends Shape {
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readonly type = ShapeType.Cylinder;
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/**
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* The radius of the cylinder's basis.
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*/
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radius: number;
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/**
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* The cylinder's half height, along the `y` axis.
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*/
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halfHeight: number;
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/**
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* Creates a new cylinder with the given radius and half-height.
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* @param halfHeight - The balls half-height along the `y` axis.
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* @param radius - The balls radius.
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*/
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constructor(halfHeight: number, radius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a 3D cylinder with round corners.
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*/
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export declare class RoundCylinder extends Shape {
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readonly type = ShapeType.RoundCylinder;
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/**
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* The radius of the cylinder's basis.
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*/
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radius: number;
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/**
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* The cylinder's half height, along the `y` axis.
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*/
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halfHeight: number;
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/**
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* The radius of the cylinder's rounded edges and vertices.
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*/
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borderRadius: number;
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/**
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* Creates a new cylinder with the given radius and half-height.
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* @param halfHeight - The balls half-height along the `y` axis.
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* @param radius - The balls radius.
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* @param borderRadius - The radius of the borders of this cylinder.
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*/
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constructor(halfHeight: number, radius: number, borderRadius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a 3D cone.
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*/
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export declare class Cone extends Shape {
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readonly type = ShapeType.Cone;
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/**
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* The radius of the cone's basis.
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*/
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radius: number;
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/**
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* The cone's half height, along the `y` axis.
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*/
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halfHeight: number;
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/**
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* Creates a new cone with the given radius and half-height.
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* @param halfHeight - The balls half-height along the `y` axis.
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* @param radius - The balls radius.
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*/
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constructor(halfHeight: number, radius: number);
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intoRaw(): RawShape;
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}
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/**
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* A shape that is a 3D cone with round corners.
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*/
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export declare class RoundCone extends Shape {
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readonly type = ShapeType.RoundCone;
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/**
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* The radius of the cone's basis.
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*/
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radius: number;
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/**
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* The cone's half height, along the `y` axis.
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*/
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halfHeight: number;
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/**
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* The radius of the cylinder's rounded edges and vertices.
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*/
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borderRadius: number;
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/**
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* Creates a new cone with the given radius and half-height.
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* @param halfHeight - The balls half-height along the `y` axis.
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* @param radius - The balls radius.
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* @param borderRadius - The radius of the borders of this cone.
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*/
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constructor(halfHeight: number, radius: number, borderRadius: number);
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intoRaw(): RawShape;
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}
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