[fix] box2d wasm joint stiffness and damping ratio now behaves the sa…

…me as box2d.ts; fix rigidbody set type; fix box2d-wasm reallocate mem (#16278)

* [fix] box2d wasm joint stiffness and damping ratio now behaviors the same as box2d.ts; 
fix rigidbody set type; 
fix box2d-wasm reallocate mem
[fix] [physics2d] 1. debugdraw circle shape not consider rotation transform; 2. box2dwasm circle shape offset error
update native/external-config.json --> v3.8.2-9

cocos/physics-2d/box2d-wasm/instantiated.ts

@@ -31,7 +31,8 @@ import { game } from '../../game';
 import { getError, error, sys, debug, IVec2Like } from '../../core';
 import { WebAssemblySupportMode } from '../../misc/webassembly-support';
 
-export const B2 = {} as any;
+// eslint-disable-next-line import/no-mutable-exports
+export let B2 = {} as any;
 
 export function getImplPtr (wasmObject: any): number {
     // eslint-disable-next-line @typescript-eslint/no-unsafe-return
@@ -113,7 +114,7 @@ function initWasm (wasmUrl: string): Promise<void> {
             },
         }).then((Instance: any) => {
             if (!EDITOR && !TEST) debug('[box2d]:box2d wasm lib loaded.');
-            Object.assign(B2, Instance);
+            B2 = Instance;
         }).then(resolve).catch((err: any) => reject(errorMessage(err)));
     });
 }
@@ -122,7 +123,7 @@ function initAsm (): Promise<void> {
     if (asmFactory != null) {
         return asmFactory().then((instance: any) => {
             if (!EDITOR && !TEST) debug('[box2d]:box2d asm lib loaded.');
-            Object.assign(B2, instance);
+            B2 = instance;
         });
     } else {
         return new Promise<void>((resolve, reject) => {

cocos/physics-2d/box2d-wasm/joints/fixed-joint.ts

@@ -30,19 +30,10 @@ import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 
 export class B2FixedJoint extends B2Joint implements IFixedJoint {
     setFrequency (v: number): void {
-        this.updateStiffnessAndDamping();
+        (this._b2joint as B2.WeldJoint).SetFrequency(v);
     }
     setDampingRatio (v: number): void {
-        this.updateStiffnessAndDamping();
-    }
-    updateStiffnessAndDamping (): void {
-        if (this._b2joint) {
-            B2.SetLinearFrequencyAndDampingRatio(
-                this._b2joint,
-                (this._jointComp as FixedJoint2D).frequency,
-                (this._jointComp as FixedJoint2D).dampingRatio,
-            );
-        }
+        (this._b2joint as B2.WeldJoint).SetDampingRatio(v);
     }
 
     _createJointDef (): any {
@@ -51,8 +42,8 @@ export class B2FixedJoint extends B2Joint implements IFixedJoint {
         def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
         def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
         def.referenceAngle = 0;
-        def.damping = 0;//comp.dampingRatio;
-        def.stiffness = 1;//comp.frequency;
+        def.dampingRatio = comp.dampingRatio;
+        def.frequencyHz = comp.frequency;
         return def;
     }
 }

cocos/physics-2d/box2d-wasm/joints/joint-2d.ts

@@ -108,8 +108,6 @@ export class B2Joint implements IJoint2D {
         addImplPtrReference(this, getImplPtr(this._b2joint));
         addImplPtrReferenceWASM(this._b2joint, getImplPtr(this._b2joint));
 
-        this.updateStiffnessAndDamping();
-
         this._inited = true;
     }
 
@@ -131,8 +129,4 @@ export class B2Joint implements IJoint2D {
     isValid (): Joint2D | null {
         return this._b2joint && this._body && this._body.impl && this._jointComp;
     }
-
-    updateStiffnessAndDamping (): void {
-        // do nothing
-    }
 }

cocos/physics-2d/box2d-wasm/joints/spring-joint.ts

@@ -30,20 +30,14 @@ import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 
 export class B2SpringJoint extends B2Joint implements ISpringJoint {
     setFrequency (v: number): void {
-        this.updateStiffnessAndDamping();
+        (this._b2joint as B2.DistanceJoint).SetFrequency(v);
     }
+
     setDampingRatio (v: number): void {
-        this.updateStiffnessAndDamping();
-    }
-    updateStiffnessAndDamping (): void {
-        if (this._b2joint) {
-            B2.SetLinearFrequencyAndDampingRatio(
-                this._b2joint,
-                (this._jointComp as SpringJoint2D).frequency,
-                (this._jointComp as SpringJoint2D).dampingRatio,
-            );
-        }
+        //this.updateStiffnessAndDamping();
+        (this._b2joint as B2.DistanceJoint).SetDampingRatio(v);
     }
+
     setDistance (v: number): void {
         if (this._b2joint) {
             (this._b2joint as B2.DistanceJoint).SetLength(v);
@@ -56,8 +50,8 @@ export class B2SpringJoint extends B2Joint implements ISpringJoint {
         def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
         def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
         def.length = comp.distance / PHYSICS_2D_PTM_RATIO;
-        def.damping = 0;//comp.dampingRatio;
-        def.stiffness = 1;//comp.frequency;
+        def.dampingRatio = comp.dampingRatio;
+        def.frequencyHz = comp.frequency;
         return def;
     }
 }

cocos/physics-2d/box2d-wasm/joints/wheel-joint.ts

@@ -31,19 +31,10 @@ import { toRadian } from '../../../core';
 
 export class B2WheelJoint extends B2Joint implements IWheelJoint {
     setFrequency (v: number): void {
-        this.updateStiffnessAndDamping();
+        (this._b2joint as B2.WheelJoint as any).SetSpringFrequencyHz(v);
     }
     setDampingRatio (v: number): void {
-        this.updateStiffnessAndDamping();
-    }
-    updateStiffnessAndDamping (): void {
-        if (this._b2joint) {
-            B2.SetLinearFrequencyAndDampingRatio(
-                this._b2joint,
-                (this._jointComp as WheelJoint2D).frequency,
-                (this._jointComp as WheelJoint2D).dampingRatio,
-            );
-        }
+        (this._b2joint as B2.WheelJoint as any).SetSpringDampingRatio(v);
     }
 
     // motor
@@ -73,8 +64,8 @@ export class B2WheelJoint extends B2Joint implements IWheelJoint {
         def.maxMotorTorque = comp.maxMotorTorque;
         def.motorSpeed = toRadian(comp.motorSpeed);
         def.enableMotor = comp.enableMotor;
-        def.damping = 0;//comp.dampingRatio;
-        def.stiffness = 1;//comp.frequency;
+        def.dampingRatio = comp.dampingRatio;
+        def.frequencyHz = comp.frequency;
         return def;
     }
 }

cocos/physics-2d/box2d-wasm/platform/physics-debug-draw.ts

@@ -97,10 +97,11 @@ export class PhysicsDebugDraw {// extends B2.Draw {
     }
 
     static _DrawCircle (center: B2.Vec2, radius: number): void {
-        const p = PhysicsDebugDraw._xf.p;
+        b2Mul(PhysicsDebugDraw._xf, center, _tmp_vec3);
+        //scale?
         PhysicsDebugDraw._drawer!.circle(
-            (center.x + p.x) * PHYSICS_2D_PTM_RATIO,
-            (center.y + p.y) * PHYSICS_2D_PTM_RATIO,
+            _tmp_vec3.x * PHYSICS_2D_PTM_RATIO,
+            _tmp_vec3.y * PHYSICS_2D_PTM_RATIO,
             radius * PHYSICS_2D_PTM_RATIO,
         );
     }

cocos/physics-2d/box2d-wasm/rigid-body.ts

@@ -231,8 +231,15 @@ export class B2RigidBody2D implements IRigidBody2D {
     }
 
     setType (v: ERigidBody2DType): void {
-        this._body!.SetType(v as number);
+        if (v === ERigidBody2DType.Dynamic) {
+            this._body!.SetType(B2.BodyType.b2_dynamicBody as B2.BodyType);
+        } else if (v === ERigidBody2DType.Kinematic) {
+            this._body!.SetType(B2.BodyType.b2_kinematicBody as B2.BodyType);
+        } else if (v === ERigidBody2DType.Static) {
+            this._body!.SetType(B2.BodyType.b2_staticBody as B2.BodyType);
+        }
     }
+
     setLinearDamping (v: number): void {
         this._body!.SetLinearDamping(v);
     }

cocos/physics-2d/box2d-wasm/shapes/circle-shape-2d.ts

@@ -51,8 +51,7 @@ export class B2CircleShape extends B2Shape2D implements ICircleShape {
 
         const shape = new B2.CircleShape();
         shape.m_radius = comp.radius / PHYSICS_2D_PTM_RATIO * scaleX;
-        shape.m_p.x = offsetX;
-        shape.m_p.y = offsetY;
+        shape.m_p = { x: offsetX, y: offsetY };
 
         return [shape as unknown as B2.CircleShape];
     }

cocos/physics-2d/box2d/platform/physics-debug-draw.ts

@@ -22,7 +22,7 @@
  THE SOFTWARE.
 */
 
-import b2 from '@cocos/box2d';
+import b2, { Vec2 } from '@cocos/box2d';
 import { Color } from '../../../core';
 import { PHYSICS_2D_PTM_RATIO } from '../../framework';
 import { Graphics } from '../../../2d';
@@ -48,7 +48,7 @@ export class PhysicsDebugDraw extends b2.Draw {
         const drawer = this._drawer!;
 
         for (let i = 0; i < vertexCount; i++) {
-            b2.Transform.MulXV(this._xf, vertices[i], _tmp_vec2);
+            b2.Transform.MulXV(this._xf, vertices[i] as Vec2, _tmp_vec2);
             const x = _tmp_vec2.x * PHYSICS_2D_PTM_RATIO;
             const y = _tmp_vec2.y * PHYSICS_2D_PTM_RATIO;
             if (i === 0) drawer.moveTo(x, y);
@@ -74,8 +74,9 @@ export class PhysicsDebugDraw extends b2.Draw {
     }
 
     _DrawCircle (center: b2.Vec2, radius: number): void {
-        const p = this._xf.p;
-        this._drawer!.circle((center.x + p.x) * PHYSICS_2D_PTM_RATIO, (center.y + p.y) * PHYSICS_2D_PTM_RATIO, radius * PHYSICS_2D_PTM_RATIO);
+        b2.Transform.MulXV(this._xf, center, _tmp_vec2);
+        //scale?
+        this._drawer!.circle((_tmp_vec2.x) * PHYSICS_2D_PTM_RATIO, (_tmp_vec2.y) * PHYSICS_2D_PTM_RATIO, radius * PHYSICS_2D_PTM_RATIO);
     }
 
     DrawCircle (center: b2.Vec2, radius: number, color): void {
@@ -137,9 +138,11 @@ export class PhysicsDebugDraw extends b2.Draw {
     }
 
     DrawPoint (center, radius, color): void {
+        //empty
     }
 
     DrawParticles (): void {
+        //empty
     }
 
     _applyStrokeColor (color): void {

native/external-config.json

@@ -3,6 +3,6 @@
         "type": "github",
         "owner": "cocos-creator",
         "name": "engine-native-external",
-        "checkout": "v3.8.2-8"
+        "checkout": "v3.8.2-9"
     }
 }