### Install npm packages and run examples

Source: https://github.com/jrouwe/joltphysics.js/blob/main/README.md

Install project dependencies and start the development server to run the examples. Ensure you are serving the HTML file using a web server, not opening it directly.

```bash
npm install
npm run examples
```

--------------------------------

### Initialize JoltPhysics.js and Example

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/character_virtual.html

Initializes JoltPhysics.js and the example setup. Replace the URL if not building the library locally.

```javascript
// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js
initJolt().then(function (Jolt) {
    // Initialize this example
    initExample(Jolt, null);

```

--------------------------------

### Initialize JoltPhysics.js and Setup Example

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/conveyor_belt.html

Initializes JoltPhysics.js and sets up the camera and floor for the demo. Ensure the Jolt physics WASM module is correctly imported.

```javascript
// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js
import initJolt from './js/jolt-physics.wasm-compat.js';

initJolt().then(function (Jolt) {
    // Initialize this example
    initExample(Jolt, null);

    camera.position.z += 60;
    camera.position.y += 20;
    camera.position.x += 50;

    // Create a basic floor
    createFloor(100);

```

--------------------------------

### Initialize JoltPhysics and Example

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/heightfield.html

Initializes JoltPhysics and the example setup. Replace the URL with the JoltPhysics WASM file if not built locally.

```javascript
import initJolt from './js/jolt-physics.wasm-compat.js';

// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js

initJolt().then(async function (Jolt) {
    // Initialize this example
    initExample(Jolt, null);
    // ... rest of the initialization code
});
```

--------------------------------

### Initialize JoltPhysics.js and Example

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/constraint_path.html

Initializes JoltPhysics.js and sets up the example environment. Replace the URL if you haven't built the library yourself.

```javascript
// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js
import initJolt from './js/jolt-physics.wasm-compat.js';

initJolt().then(function (Jolt) {
    // Initialize this example
    const updates = [];
    initExample(Jolt, () => {
        updates.forEach(func => func());
    });

    // Create a basic floor
    createFloor();

    const rotation = Jolt.Quat.prototype.sIdentity();
    const position = new Jolt.RVec3();
    const size = new Jolt.Vec3(0.5, 0.1, 0.5);

    const pathPoints = [];
    const pointResolution = 100;
    for (let i = 0; i < pointResolution; i++) {
        const x = Math.cos(i * 2 * Math.PI / pointResolution) * 2;
        const y = Math.sin(i * 2 * Math.PI / pointResolution) * 2;
        pathPoints.push(new THREE.Vector3(x, 0, y));
    }

    const pathGeo = new Line3DMesh(pathPoints, '#0000FF');
    const pathMesh = pathGeo.getMesh();

    const SetV3 = (joltV3, threeV3) => threeV3.set(joltV3.GetX(), joltV3.GetY(), joltV3.GetZ());

    const path = new Jolt.PathConstraintPathJS();
    path.GetPathMaxFraction = () => pointResolution;

    const tmp = new THREE.Vector3();
    const tmp2 = new THREE.Vector3();

    path.GetClosestPoint = (vecPtr, fractionHint) => {
        const jVec3 = Jolt.wrapPointer(vecPtr, Jolt.Vec3);
        SetV3(jVec3, tmp2);
        const body2Loc = tmp2;
        let closest = 31;
        let maxLen = Number.POSITIVE_INFINITY;
        pathPoints.forEach((p, i) => {
            tmp.subVectors(p, body2Loc);
            const len = tmp.length();
            if (len < maxLen) {
                closest = i;
                maxLen = len;
            }
        });
        return closest;
    }

    const normal = new THREE.Vector3(0, 1, 0);
    path.GetPointOnPath = (inFraction, outPathPositionPtr, outPathTangentPtr, outPathNormalPtr, outPathBinormalPtr) => {
        const outPathPosition = Jolt.wrapPointer(outPathPositionPtr, Jolt.Vec3);
        const outPathTangent = Jolt.wrapPointer(outPathTangentPtr, Jolt.Vec3);
        const outPathNormal = Jolt.wrapPointer(outPathNormalPtr, Jolt.Vec3);
        const outPathBinormal = Jolt.wrapPointer(outPathBinormalPtr, Jolt.Vec3);

        const pointAIdx = Math.floor(inFraction);
        const pointBIdx = Math.ceil(inFraction + 0.0001) % pointResolution;
        const percent = inFraction - pointAIdx;

        const pointA = pathPoints[pointAIdx];
        const pointB = pathPoints[pointBIdx];

        const pos = tmp.lerpVectors(pointA, pointB, percent);
        outPathNormal.Set(normal.x, normal.y, normal.z);
        outPathPosition.Set(pos.x, pos.y, pos.z);

        const tan = tmp.subVectors(pointB, pointA).normalize();
        outPathTangent.Set(tan.x, tan.y, tan.z);

        const binormal = tmp.crossVectors(tan, normal).normalize();
        outPathBinormal.Set(binormal.x, binormal.y, binormal.z);
    }

    Jolt.castObject(path, Jolt.PathConstraintPath).SetIsLooping(true);

    const _jPosition = new Jolt.Vec3();
    const _jTangent = new Jolt.Vec3();
    const _jNormal = new Jolt.Vec3();
    const _jBinormal = new Jolt.Vec3();

    const positionMaterial = new THREE.MeshPhongMaterial({ color: '#00ff00' });
    const positionGeo = new THREE.SphereGeometry(0.25, 32, 32);

    function renderPathData(parent, constraint) {
        parent.add(pathMesh.clone());
        const pos = new THREE.Mesh(positionGeo, positionMaterial);
        parent.add(pos);

        const tanLine = new Line3DMesh([new THREE.Vector3(), new THREE.Vector3()], '#FF0000');
        pos.add(tanLine.getMesh());

        const normLine = new Line3DMesh([new THREE.Vector3(), new THREE.Vector3()], '#00FF00');
        pos.add(normLine.getMesh());

        const binLine = new Line3DMesh([new THREE.Vector3(), new THREE.Vector3()], '#FF00FF');
        pos.add(binLine.getMesh());

        updates.push(() => {
            path.GetPointOnPath(constraint.GetPathFraction(), Jolt.getPointer(_jPosition), Jolt.getPointer(_jTangent), Jolt.getPointer(_jNormal), Jolt.getPointer(_jBinormal));
            SetV3(_jPosition, pos.position);
            SetV3(_jTangent, tanLine._points[1]);
            tanLine.update();
            SetV3(_jNormal, normLine._points[1]);
            normLine.update();
            SetV3(_jBinormal, binLine._points[1]);
            binLine.update();
        })
    }

    let offsetX = -8;
    let offsetZ = 0;

    {
        position.Set(0 + offsetX, 5, 0 + offsetZ);
        const box1 = createBox(position, rotation, size, Jolt.EMotionType_Static, LAYER_NON_MOVING);
        const threeBox = dynamicObjects[dynamicObjects.length - 1];

        position.Set(2.5 + offsetX, 5, 0 + offsetZ);
        const box2 = createBox(position, rotation, size, Jolt.EMotionType_Dynamic, LAYER_MOVING, '#ff0000');

        const pathConstraintSettings = new Jolt.PathConstraintSettings();
        pathConstraintSettings.mRotationConstraintType = Jolt.EPathRotationConstraintType.EPathRotationConstraintType_Free;

```

--------------------------------

### Initialize Jolt Physics and Setup

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/constraint_pulley.html

Initializes Jolt Physics and sets up the example, including graphics updates for lines. Requires Three.js for visualization.

```javascript
import initJolt from './js/jolt-physics.wasm-compat.js';

initJolt().then(function (Jolt) {
    const lineUpdates = [];
    // Initialize this example
    initExample(Jolt, () => {
        lineUpdates.forEach(func => func());
    });
    // ... rest of the code
```

--------------------------------

### Initialize JoltPhysics and Example

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/constraint_svg_path.html

Initializes JoltPhysics and the example environment. Replace the URL with a CDN link if not building the library locally.

```javascript
// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js
import initJolt from './js/jolt-physics.wasm-compat.js';

initJolt().then(function (Jolt) {
    // Initialize this example
    const updates = []
    initExample(Jolt, () => {
        updates.forEach(func => func())
    });

    // Create a basic floor
    createFloor();

    const rotation = Jolt.Quat.prototype.sIdentity();
    const position = new Jolt.RVec3();
    const size = new Jolt.Vec3(0.5, 0.1, 0.5);

    const SetV3 = (joltV3, threeV3) => threeV3.set(joltV3.GetX(), joltV3.GetY(), joltV3.GetZ());
    const normal = new THREE.Vector3(0, 1, 0);

    class SVGJoltPath extends Jolt.PathConstraintPathJS {
        constructor(svgPath, velocity, scale, sampleRate) {
            super();
            this._svgPath = svgPath;
            this._velocity = velocity;
            this._scale = scale || 1;
            this._sampleRate = sampleRate || 1;
            this._tmpVec = [new THREE.Vector3(), new THREE.Vector3(), new THREE.Vector3(), new THREE.Vector3()];

            // Emscripten require properties, not methods, for these functions, so we can not just declare them as normal class methods
            this.GetClosestPoint = this.getClosestPoint;
            this.GetPathMaxFraction = this.getPathMaxFraction;
            this.GetPointOnPath = this.getPointOnPath;

            this.points = [];

            // This SVG's native sampling is slow, so pre-calculate the needed points. Reduce sample-rate for this demo, since
            const pathLen = this._svgPath.getTotalLength();
            for (let i = 0; i < pathLen; i += this._sampleRate) {
                this.points.push(this._getPos(i, new THREE.Vector3()));
            }

            // calculate center and size for later re-centering and scaling the SVG
            this._calcBoundingBox();
            this.points.forEach(pos => {
                pos.set((pos.x - this.bbox.center.x) / this.bbox.width * this._scale, 0, (pos.y - this.bbox.center.y) / this.bbox.height * this._scale)
            })
            this._length = this.points.length;
        }

        _calcBoundingBox() {
            const bbox = this.bbox = {
                min: { x: Number.POSITIVE_INFINITY, y: Number.POSITIVE_INFINITY },
                max: { x: -Number.POSITIVE_INFINITY, y: -Number.POSITIVE_INFINITY }
            }
            this.points.forEach(p => {
                bbox.min.x = Math.min(bbox.min.x, p.x)
                bbox.min.y = Math.min(bbox.min.y, p.y)
                bbox.max.x = Math.max(bbox.max.x, p.x)
                bbox.max.y = Math.max(bbox.max.y, p.y)
            });
            bbox.width = bbox.max.x - bbox.min.x;
            bbox.height = bbox.max.y - bbox.min.y;
            bbox.center = { x: 0, y: 0 };
            bbox.center.x = (bbox.max.x + bbox.min.x) / 2;
            bbox.center.y = (bbox.max.y + bbox.min.y) / 2;
        }

        getMesh(color) {
            const pathGeo = new Line3DMesh(this.points, color);
            return pathGeo.getMesh();
        }

        _searchRange(current, indexA, indexB, iterations) {
            const pointA = this.points[Math.floor((indexA + this.points.length) % this.points.length)];
            const distA = this._tmpVec[3].subVectors(pointA, current).length();
            const pointB = this.points[Math.floor((indexB + this.points.length) % this.points.length)];
            const distB = this._tmpVec[3].subVectors(pointB, current).length();
            const indexDelta = indexB - indexA;

            if (distA == 0) {
                return indexA;
            }
            if (distB == 0) {
                return indexB;
            }

            const weightA = distA / (distA + distB);
            const nextEstimate = indexA + weightA * indexDelta;

            if (iterations == 1 || Math.abs(indexA - indexB) < 1) {
                return nextEstimate;
            }

            return this._searchRange(current, nextEstimate - 0.125 * indexDelta, nextEstimate + 0.125 * indexDelta, iterations - 1);
        }

        getClosestPoint(vecPtr, fractionHint) {
            const jVec3 = Jolt.wrapPointer(vecPtr, Jolt.Vec3);
            const curPos = this._tmpVec[0];
            SetV3(jVec3, curPos);
            const closest = this._searchRange(curPos, fractionHint - this._velocity, fractionHint + this._velocity, 6)
            return (closest + this.points.length) % this.points.length;
        }

        getPathMaxFraction() {
            return this._length;
        }

        _getPos(fraction, threeVec) {
            const pos = this._svgPath.getPointAtLength(fraction);
            threeVec.set(pos.x, pos.y, 0);
            return threeVec;
        }

        getPointOnPath(inFraction, outPathPositionPtr, outPathTangentPtr, outPathNormalPtr, outPathBinormalPtr) {
            const outPathPosition = Jolt.wrapPointer(outPathPositionPtr, Jolt.Vec3);
            const outPathTangent = Jolt.wrapPointer(outPathTangentPtr, Jolt.Vec3);
            const outPathNormal = Jolt.wrapPointer(outPathNormalPtr, Jolt.Vec3);
            const outPathBinormal = Jolt.wrapPointer(outPathBinormalPtr, Jolt.Vec3);

            const indexA = Math.floor(inFraction + this.points.length) % this.points.length;
            const indexB = Math.ceil(inFraction + 0.001 + this.points.length) % this.points.length;

            const pointA = this.points[indexA];
            const pointB = this.points[indexB];

```

--------------------------------

### Initialize JoltPhysics.js and Setup

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/constraints.html

Initializes JoltPhysics.js and sets up the basic scene, including the camera, floor, and group filters for collision management. This code is essential for starting any JoltPhysics.js simulation.

```javascript
import initJolt from './js/jolt-physics.wasm-compat.js';

initJolt().then(function (Jolt) {
    // Initialize this example
    initExample(Jolt, null);

    // Better position the camera
    camera.position.set(10, 30, 30);

    // Create a basic floor
    createFloor();

    // Create group filter that filters out collisions between body N and N + 1 in the same chain
    let filter = new Jolt.GroupFilterTable(10);
    for (let z = 0; z < 9; ++z)
        filter.DisableCollision(z, z + 1);

    let shape = new Jolt.BoxShape(new Jolt.Vec3(0.5, 0.5, 0.5), 0.05, null);
    let creationSettings = new Jolt.BodyCreationSettings(shape, new Jolt.RVec3(-15, 20, 0), Jolt.Quat.prototype.sIdentity(), Jolt.EMotionType_Dynamic, LAYER_MOVING);
    creationSettings.mCollisionGroup.SetGroupFilter(filter);

    function createBody(creationSettings, z) {
        creationSettings.mMotionType = z == 0 ? Jolt.EMotionType_Static : Jolt.EMotionType_Dynamic;
        creationSettings.mObjectLayer = z == 0 ? LAYER_NON_MOVING : LAYER_MOVING;
        creationSettings.mPosition.SetZ(z);
        creationSettings.mCollisionGroup.SetSubGroupID(z);
        let body = bodyInterface.CreateBody(creationSettings);
        addToScene(body, 0xff0000);
        // Add an impulse (gravity is really boring, many constraints look the same)
        if (z == 9)
            body.AddImpulse(new Jolt.Vec3(1000, 0, 0));
        return body;
    }

    // Fixed constraint
    creationSettings.mCollisionGroup.SetGroupID(0);
    {
        let constraintSettings = new Jolt.FixedConstraintSettings();
        constraintSettings.mAutoDetectPoint = true;
        let prevBody = null;
        for (let z = 0; z < 10; ++z) {
            let body = createBody(creationSettings, z);
            if (prevBody != null) {
                physicsSystem.AddConstraint(constraintSettings.Create(prevBody, body));
            }
            prevBody = body;
        }
    }

    // Point constraint
    creationSettings.mCollisionGroup.SetGroupID(creationSettings.mCollisionGroup.GetGroupID() + 1);
    creationSettings.mPosition.SetX(creationSettings.mPosition.GetX() + 5);
    {
        let constraintSettings = new Jolt.PointConstraintSettings();
        constraintSettings.mPoint1 = constraintSettings.mPoint2 = creationSettings.mPosition;
        let prevBody = null;
        for (let z = 0; z < 10; ++z) {
            let body = createBody(creationSettings, z);
            if (prevBody != null) {
                constraintSettings.mPoint1.SetZ(z - 0.5);
                constraintSettings.mPoint2.SetZ(z - 0.5);
                physicsSystem.AddConstraint(constraintSettings.Create(prevBody, body));
            }
            prevBody = body;
        }
    }

    // Distance constraint
    creationSettings.mCollisionGroup.SetGroupID(creationSettings.mCollisionGroup.GetGroupID() + 1);
    creationSettings.mPosition.SetX(creationSettings.mPosition.GetX() + 5);
    {
        let constraintSettings = new Jolt.DistanceConstraintSettings();
        constraintSettings.mPoint1 = constraintSettings.mPoint2 = creationSettings.mPosition;
        constraintSettings.mMinDistance = 0;
        constraintSettings.mMaxDistance = 1;
        let prevBody = null;
        for (let z = 0; z < 10; ++z) {
            let body = createBody(creationSettings, z);
            if (prevBody != null) {
                constraintSettings.mPoint1.SetZ(z - 0.5);
                constraintSettings.mPoint2.SetZ(z - 0.5);
                physicsSystem.AddConstraint(constraintSettings.Create(prevBody, body));
            }
            prevBody = body;
        }
    }

    // Hinge constraint
    creationSettings.mCollisionGroup.SetGroupID(creationSettings.mCollisionGroup.GetGroupID() + 1);
    creationSettings.mPosition.SetX(creationSettings.mPosition.GetX() + 5);
    {
        let constraintSettings = new Jolt.HingeConstraintSettings();
        constraintSettings.mPoint1 = constraintSettings.mPoint2 = new Jolt.RVec3(creationSettings.mPosition.GetX(), creationSettings.mPosition.GetY() - 0.5, creationSettings.mPosition.GetZ());
        constraintSettings.mHingeAxis1 = constraintSettings.mHingeAxis2 = new Jolt.Vec3(1, 0, 0);
        constraintSettings.mNormalAxis1 = constraintSettings.mNormalAxis2 = new Jolt.Vec3(0, 1, 0);
        let prevBody = null;
        for (let z = 0; z < 10; ++z) {
            let body = createBody(creationSettings, z);
            if (prevBody != null) {
                constraintSettings.mPoint1.SetZ(z - 0.5);
                constraintSettings.mPoint2.SetZ(z - 0.5);
                physicsSystem.AddConstraint(constraintSettings.Create(prevBody, body));
            }
            prevBody = body;
        }
    }

    // Slider constraint
    creationSettings.mCollisionGroup.SetGroupID(creationSettings.mCollisionGroup.GetGroupID() + 1);
    creationSettings.mPosition.SetX(creationSettings.mPosition.GetX() + 5);
    {
        let constraintSettings = new Jolt.SliderConstraintSettings();
        constraintSettings.mPoint1 = constraintSettings.mPoint2 = creationSettings.mPosition;
        constraintSettings.mSliderAxis1 = constraintSettings.mSliderAxis2 = new Jolt.Vec3(0, -1, 1).Normalized();
        constraintSettings.mNormalAxis1 = constraintSettings.mNormalAxis2 = constraintSettings.mSliderAxis1.GetNormalizedPerpendicular();
        constraintSettings.mLimitsMin = 0;
        constraintSettings.mLimitsMax = 1;
        let prevBody = null;
        for (let z = 0; z < 10; 0.5);
                physicsSystem.AddConstraint(constraintSettings.Create(prevBody, body));
            }
            prevBody = body;
        }
    }
});
```

--------------------------------

### Initialize JoltPhysics.js and Setup Demo

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/falling_shapes.html

Initializes JoltPhysics.js and sets up the falling shapes demo. Replace the URL if not building the library locally. The `onUpdate` function is called each frame.

```javascript
// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js
import initJolt from './js/jolt-physics.wasm-compat.js';
initJolt().then(function (Jolt) {
    // Spawning variables
    var objectTimePeriod = 0.25;
    var timeNextSpawn = time + objectTimePeriod;
    var maxNumObjects = 100;

    // Initialize this example
    initExample(Jolt, onUpdate);

    // Create a basic floor
    createFloor();

    // Create example mesh
    createMeshFloor(30, 1, 4, 0, 5, 0);

    function generateObject() {
        let numTypes = 10;
        let objectType = Math.ceil(Math.random() * numTypes);
        let shape = null;
        let colors = [0xff0000, 0xd9b1a3, 0x4d4139, 0xccad33, 0xf2ff40, 0x00ff00, 0x165943, 0x567371, 0x80d5ff, 0x69778c, 0xbeb6f2, 0x7159b3, 0x73004d, 0xd90074, 0xff8091, 0xbf3030, 0x592400, 0xa66c29, 0xb3aa86, 0x296600, 0x00e600, 0x66ccaa, 0x00eeff, 0x3d9df2, 0x000e33, 0x3d00e6, 0xb300a7, 0xff80d5, 0x330d17, 0x59332d, 0xff8c40, 0x33210d, 0x403c00, 0x89d96c, 0x0d3312, 0x0d3330, 0x005c73, 0x0066ff, 0x334166, 0x1b0066, 0x4d3949, 0xbf8faf, 0x59000c, 0x0000ff]
        switch (objectType) {
            case 1: {
                // Sphere
                let radius = 0.5 + Math.random();
                shape = new Jolt.SphereShape(radius, null);
                break;
            }
            case 2: {
                // Box
                let sx = 1 + Math.random();
                let sy = 1 + Math.random();
                let sz = 1 + Math.random();
                shape = new Jolt.BoxShape(new Jolt.Vec3(sx * 0.5, sy * 0.5, sz * 0.5), 0.05, null);
                break;
            }
            case 3: {
                // Cylinder
                let radius = 0.5 + Math.random();
                let halfHeight = 0.5 + 0.5 * Math.random();
                shape = new Jolt.CylinderShape(halfHeight, radius, 0.05, null);
                break;
            }
            case 4: {
                // Tapered cylinder
                let topRadius = 0.1 + Math.random();
                let bottomRadius = 0.5 + Math.random();
                let halfHeight = 0.5 * (topRadius + bottomRadius + Math.random());
                shape = new Jolt.TaperedCylinderShapeSettings(halfHeight, topRadius, bottomRadius, null).Create().Get();
                break;
            }
            case 5: {
                // Capsule
                let radius = 0.5 + Math.random();
                let halfHeight = 0.5 + 0.5 * Math.random();
                shape = new Jolt.CapsuleShape(halfHeight, radius, null);
                break;
            }
            case 6: {
                // Tapered capsule
                let topRadius = 0.1 + Math.random();
                let bottomRadius = 0.5 + Math.random();
                let halfHeight = 0.5 * (topRadius + bottomRadius + Math.random());
                shape = new Jolt.TaperedCapsuleShapeSettings(halfHeight, topRadius, bottomRadius, null).Create().Get();
                break;
            }
            case 7: {
                // Convex hull
                let hull = new Jolt.ConvexHullShapeSettings;
                for (let p = 0; p < 10; ++p)
                    hull.mPoints.push_back(new Jolt.Vec3(-0.5 + 2 * Math.random(), -0.5 + 2 * Math.random(), -0.5 + 2 * Math.random()));
                shape = hull.Create().Get();
                break;
            }
            case 8: {
                // Static compound shape
                let shapeSettings = new Jolt.StaticCompoundShapeSettings();
                let l = 1.0 + Math.random();
                let r2 = 0.5 + 0.5 * Math.random();
                let r1 = 0.5 * r2;
                shapeSettings.AddShape(new Jolt.Vec3(-l, 0, 0), Jolt.Quat.prototype.sIdentity(), new Jolt.SphereShapeSettings(r2));
                shapeSettings.AddShape(new Jolt.Vec3(l, 0, 0), Jolt.Quat.prototype.sIdentity(), new Jolt.SphereShapeSettings(r2));
                shapeSettings.AddShape(new Jolt.Vec3(0, 0, 0), Jolt.Quat.prototype.sRotation(new Jolt.Vec3(0, 0, 1), 0.5 * Math.PI), new Jolt.CapsuleShapeSettings(l, r1));
                shape = shapeSettings.Create().Get();
                break;
            }
            case 9: {
                // Mutable compound shape
                let shapeSettings = new Jolt.MutableCompoundShapeSettings();
                let l = 1.0 + Math.random();
                let r2 = 0.5 + 0.5 * Math.random();
                let r1 = 0.5 * r2;
                shapeSettings.AddShape(new Jolt.Vec3(-l, 0, 0), Jolt.Quat.prototype.sIdentity(), new Jolt.SphereShapeSettings(r2));
                shapeSettings.AddShape(new Jolt.Vec3(l, 0, 0), Jolt.Quat.prototype.sIdentity(), new Jolt.BoxShapeSettings(Jolt.Vec3.prototype.sReplicate(r2)));
                shapeSettings.AddShape(new Jolt.Vec3(0, 0, 0), Jolt.Quat.prototype.sRotation(new Jolt.Vec3(0, 0, 1), 0.5 * Math.PI), new Jolt.CapsuleShapeSettings(l, r1));
                shape = shapeSettings.Create().Get();
                break;
            }
            case 10: {
                // Sphere with COM offset
                let radius = 0.5;
                shape = new Jolt.OffsetCenterOfMassShapeSettings(new Jolt.Vec3(0, -0.1 * radius, 0), new Jolt.SphereShapeSettings(radius, null)).Create().Get();
                break;
            }
        }

        // Position and rotate body
        let pos = new Jolt.RVec3((Math.random() - 0.5) * 25, 15, (Math.random() - 0.5) * 25);
        let rot = getRandomQuat();

        // Create physics body
        let creationSettings = new Jolt.BodyCreationSettings(shape, pos, rot, Jolt.EMotionType_Dynamic, LAYER_MOVING);
        creationSettings.mRestitution = 0.5;
        let body = bodyInterface.CreateBody(creationSettings);
        addToScene(body, colors[objectType - 1]);
    }

    function onUpdate(time, deltaTime) {
        // Check if its time to spawn a new object
        if (dynamicObjects.length < maxNumObjects && time > timeNextSpawn) {
            generateObject();
            timeNextSpawn = time + objectTimePeriod;
        }
    }
});
```

--------------------------------

### JoltPhysics.js Initialization and Setup

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/conveyor_belt_threaded.html

Initializes JoltPhysics.js, sets up the worker script for multi-threading, and configures initial scene parameters like camera position and floor creation. It also demonstrates creating static conveyor belt boxes.

```javascript
import initJolt from './js/jolt-physics.multithread.wasm-compat.js';
initJolt().then(function (Jolt) {
    const contactListener = new Jolt.ContactListenerJS();
    const workerUrl = URL.createObjectURL(new Blob([document.getElementById('workerScript').innerHTML], { type: 'text/javascript' }));
    const workerParams = {
        contactListenerPtr: Jolt.getPointer(contactListener),
        angularBelt: new Uint32Array(new SharedArrayBuffer(4)),
        linearBelts: new Uint32Array(new SharedArrayBuffer(20))
    }
    Jolt.configureWorkerScripts(workerUrl, workerParams);

    // Initialize this example
    initExample(Jolt, null);
    camera.position.z += 60;
    camera.position.y += 20;
    camera.position.x += 50;

    // Create a basic floor
    createFloor(100);

    // Create conveyor belts
    const cBeltWidth = 10.0;
    const cBeltLength = 50.0;
    const linearBelts = [];
    for (let i = 0; i < 4; ++i) {
        const friction = 0.25 * (i + 1);
        const rot1 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), 0.5 * Math.PI * i);
        const rot2 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1, 0, 0), DegreesToRadians(1.0));
        const rotation = rot1.clone().multiply(rot2);
        const position = new THREE.Vector3(cBeltLength, 6.0, cBeltWidth).applyQuaternion(rotation);
        const belt = createBox(unwrapRVec3(position), unwrapQuat(rotation), new Jolt.Vec3(cBeltWidth, 0.1, cBeltLength), Jolt.EMotionType_Static, LAYER_NON_MOVING);
        be
```

--------------------------------

### Create Pulley Constraint - Example 2

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/constraint_pulley.html

Sets up a second pulley constraint with two dynamic boxes, demonstrating different ratios or weights.

```javascript
{ 
    position.Set(xOffset - 0.6, 4, 0);
    const box1 = createBox(position, rotation, size, Jolt.EMotionType_Dynamic, LAYER_MOVING);
    box1.GetMotionProperties().SetInverseMass(1 / 111);
    const threeBox1 = dynamicObjects[dynamicObjects.length - 1];

    position.Set(xOffset + 0.6, 4, 0);
    const box2 = createBox(position, rotation, size, Jolt.EMotionType_Dynamic, LAYER_MOVING);
    box1.GetMotionProperties().SetInverseMass(1 / 112);
    const threeBox2 = dynamicObjects[dynamicObjects.length - 1];

    const pulley1 = new Jolt.PulleyConstraintSettings();
    createPulleyGraphics(threeBox1, threeBox2, new THREE.Vector3(0, 0.1, 0), new THREE.Vector3(0, 0.1, 0), new THREE.Vector3(xOffset - 1, 9, 0), new THREE.Vector3(xOffset + 1, 9, 0), pulley1);
    physicsSystem.AddConstraint(pulley1.Create(box1, box2))
}
```

--------------------------------

### Initialize Jolt Physics and Setup Animation

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/rig/powered_rig.html

Initializes Jolt Physics, sets up animation sampling for a ragdoll, and creates a dynamic floor. Requires Three.js and Jolt Physics library.

```javascript
// In case you haven't built the library yourself, replace URL with: https://www.unpkg.com/jolt-physics/dist/jolt-physics.wasm-compat.js
import initJolt from './../js/jolt-physics.wasm-compat.js';

const texLoader = new THREE.TextureLoader();
const texture = texLoader.load('data:image/gif;base64,R0lGODdhAgACAIABAAAAAP///ywAAAAAAgACAAACA0QCBQA7');
texture.wrapS = texture.wrapT = THREE.RepeatWrapping;
texture.offset.set(0, 0);
texture.repeat.set(20, 20);
texture.magFilter = THREE.NearestFilter;

initJolt().then(async function (Jolt) {
    const sAnimations = [
        "Neutral",
        "Walk",
        "Sprint",
        "Dead_Pose1",
        "Dead_Pose2",
        "Dead_Pose3",
        "Dead_Pose4"
    ];
    let sAnimationName = "Sprint";
    let mAnimation, mPose, mRagdoll;
    let mAnimationTime = 0;
    const root_offset = new Jolt.RVec3();
    const joint_rot = new Jolt.Quat();

    // Initialize this example
    initExample(Jolt, (mTime, mDeltaTime) => {
        if (mAnimation && mPose && mRagdoll) {
            mAnimation.Sample(mAnimationTime, mPose);
            const joint = mPose.GetJoint(0);
            joint.mTranslation = Jolt.RVec3.prototype.sZero();
            mRagdoll.GetRootTransform(root_offset, joint_rot);
            joint.mRotation = joint_rot;
            mPose.SetRootOffset(root_offset);
            mAnimationTime += mDeltaTime;
            mPose.CalculateJointMatrices();
            mRagdoll.DriveToPoseUsingMotors(mPose);
        }
    });

    scene.add(new THREE.AmbientLight(0xFFFFFF, 0.2));

    // Create a basic floor
    createFloor();
    const floorModel = dynamicObjects[dynamicObjects.length - 1];
    floorModel.material.map = texture;

    let shape = new Jolt.BoxShape(new Jolt.Vec3(0.2, 0.2, 0.2));
    const position = new Jolt.RVec3();
    const rotation = Jolt.Quat.prototype.sIdentity();
    let boxes = [];

    function buildBoxes() {
        boxes.forEach(box => {
            removeFromScene(box);
        });
        boxes = [];
        for (let i = 0; i < 3; ++i)
            for (let j = i / 2; j < 10 - (i + 1) / 2; ++j) {
                position.Set(-2.0 + j * 0.4 + (i & 1 ? 0.2 : 0.0), 0.2 + i * 0.4, -2.0);
                let creationSettings = new Jolt.BodyCreationSettings(shape, position, rotation, Jolt.EMotionType_Dynamic, LAYER_MOVING);
                creationSettings.mFriction = 0.1;
                creationSettings.mOverrideMassProperties = Jolt.EOverrideMassProperties_CalculateInertia;
                creationSettings.mMassPropertiesOverride.mMass = 1;
                let body = bodyInterface.CreateBody(creationSettings);
                addToScene(body, 0x00ffff);
                boxes.push(dynamicObjects[dynamicObjects.length - 1]);
            }
    }

    const dropdown = document.getElementById('sAnimations');
    sAnimations.forEach(type => {
        const option = document.createElement('option');
        option.value = type;
        option.innerText = type;
        dropdown.appendChild(option);
    });
    dropdown.value = sAnimationName;

    const mRagdollSettings = await RagdollLoader.load(Jolt, "../assets/Human/Human.tof", Jolt.EMotionType_Dynamic, "Ragdoll");
    mRagdollSettings.DisableParentChildCollisions();
    mRagdoll = mRagdollSettings.CreateRagdoll(0, 0, physicsSystem);
    mRagdoll.AddToPhysicsSystem(Jolt.EActivation_Activate);

    // Create ragdoll
    let bodyCount = mRagdoll.GetBodyCount();
    for (let i = 0; i < bodyCount; i++) {
        const bodyID = mRagdoll.GetBodyID(i);
        let body = physicsSystem.GetBodyLockInterfaceNoLock().TryGetBody(bodyID);
        addToThreeScene(body, 0xFF00FF);
    }

    mPose = new Jolt.SkeletonPose();
    mPose.SetSkeleton(mRagdollSettings.GetSkeleton());

    async function loadAnimation() {
        if (mAnimation) {
            Jolt.destroy(mAnimation);
            mAnimation = undefined;
        }
        buildBoxes();
        sAnimationName = dropdown.value;
        mAnimation = await RagdollLoader.loadAnimation(Jolt, "../assets/Human/animations/" + sAnimationName.toLocaleLowerCase() + ".tof");
        mAnimationTime = 0;

        // Drive the ragdoll to the first frame of the animation using motors
        mAnimation.Sample(0.0, mPose);
        mPose.CalculateJointMatrices();
        mRagdoll.SetPose(mPose);

        // Wake up, in case we tried to animate to a Pose and all bodies are sleeping
        mRagdoll.Activate();
    }

    dropdown.onchange = () => loadAnimation();
    loadAnimation();

    // Position the camera
    camera.position.z = -8;
    camera.position.y = 3;
});
```

--------------------------------

### Initialize JoltPhysics.js and Basic Setup

Source: https://github.com/jrouwe/joltphysics.js/blob/main/Examples/proper_cleanup.html

Initializes the Jolt physics engine and sets up basic collision layers and filters. Ensure the Jolt WASM module is correctly imported.

```javascript
import initJolt from './js/jolt-physics.wasm-compat.js';
initJolt().then(function (Jolt) {
// Record how much memory we have in the beginning
const memoryFreeBefore = Jolt.JoltInterface.prototype.sGetFreeMemory());

// Create very simple object layer filter with only a single layer
const MY_LAYER = 0;
let objectFilter = new Jolt.ObjectLayerPairFilterTable(1);
objectFilter.EnableCollision(MY_LAYER, MY_LAYER);

// Create very simple broad phase layer interface with only a single layer
const BP_LAYER = new Jolt.BroadPhaseLayer(0);
let bpInterface = new Jolt.BroadPhaseLayerInterfaceTable(1, 1);
bpInterface.MapObjectToBroadPhaseLayer(MY_LAYER, BP_LAYER);
Jolt.destroy(BP_LAYER); // 'BP_LAYER' has been copied into bpInterface

// Create broad phase filter
let bpFilter = new Jolt.ObjectVsBroadPhaseLayerFilterTable(bpInterface, 1, objectFilter, 1);

// Initialize Jolt
let settings = new Jolt.JoltSettings();
settings.mObjectLayerPairFilter = objectFilter;
settings.mBroadPhaseLayerInterface = bpInterface;
settings.mObjectVsBroadPhaseLayerFilter = bpFilter;
let jolt = new Jolt.JoltInterface(settings);
// Everything in 'settings' has now been copied into 'jolt', the 3 interfaces above are now owned by 'jolt'
Jolt.destroy(settings);

// Typing shortcuts
let physicsSystem = jolt.GetPhysicsSystem();
let bodyInterface = physicsSystem.GetBodyInterface();
```