You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
282 lines
6.6 KiB
282 lines
6.6 KiB
6 months ago
|
import { Clock, Vector3, Quaternion, Matrix4 } from 'three';
|
||
|
|
||
|
const JOLT_PATH = 'https://cdn.jsdelivr.net/npm/jolt-physics@0.23.0/dist/jolt-physics.wasm-compat.js';
|
||
|
|
||
|
const frameRate = 60;
|
||
|
|
||
|
let Jolt = null;
|
||
|
|
||
|
function getShape( geometry ) {
|
||
|
|
||
|
const parameters = geometry.parameters;
|
||
|
|
||
|
// TODO change type to is*
|
||
|
|
||
|
if ( geometry.type === 'BoxGeometry' ) {
|
||
|
|
||
|
const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
|
||
|
const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
|
||
|
const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
|
||
|
|
||
|
return new Jolt.BoxShape( new Jolt.Vec3( sx, sy, sz ), 0.05 * Math.min( sx, sy, sz ), null );
|
||
|
|
||
|
} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
|
||
|
|
||
|
const radius = parameters.radius !== undefined ? parameters.radius : 1;
|
||
|
|
||
|
return new Jolt.SphereShape( radius, null );
|
||
|
|
||
|
}
|
||
|
|
||
|
return null;
|
||
|
|
||
|
}
|
||
|
|
||
|
// Object layers
|
||
|
const LAYER_NON_MOVING = 0;
|
||
|
const LAYER_MOVING = 1;
|
||
|
const NUM_OBJECT_LAYERS = 2;
|
||
|
|
||
|
function setupCollisionFiltering( settings ) {
|
||
|
|
||
|
let objectFilter = new Jolt.ObjectLayerPairFilterTable( NUM_OBJECT_LAYERS );
|
||
|
objectFilter.EnableCollision( LAYER_NON_MOVING, LAYER_MOVING );
|
||
|
objectFilter.EnableCollision( LAYER_MOVING, LAYER_MOVING );
|
||
|
|
||
|
const BP_LAYER_NON_MOVING = new Jolt.BroadPhaseLayer( 0 );
|
||
|
const BP_LAYER_MOVING = new Jolt.BroadPhaseLayer( 1 );
|
||
|
const NUM_BROAD_PHASE_LAYERS = 2;
|
||
|
|
||
|
let bpInterface = new Jolt.BroadPhaseLayerInterfaceTable( NUM_OBJECT_LAYERS, NUM_BROAD_PHASE_LAYERS );
|
||
|
bpInterface.MapObjectToBroadPhaseLayer( LAYER_NON_MOVING, BP_LAYER_NON_MOVING );
|
||
|
bpInterface.MapObjectToBroadPhaseLayer( LAYER_MOVING, BP_LAYER_MOVING );
|
||
|
|
||
|
settings.mObjectLayerPairFilter = objectFilter;
|
||
|
settings.mBroadPhaseLayerInterface = bpInterface;
|
||
|
settings.mObjectVsBroadPhaseLayerFilter = new Jolt.ObjectVsBroadPhaseLayerFilterTable( settings.mBroadPhaseLayerInterface, NUM_BROAD_PHASE_LAYERS, settings.mObjectLayerPairFilter, NUM_OBJECT_LAYERS );
|
||
|
|
||
|
};
|
||
|
|
||
|
async function JoltPhysics() {
|
||
|
|
||
|
if ( Jolt === null ) {
|
||
|
|
||
|
const { default: initJolt } = await import( JOLT_PATH );
|
||
|
Jolt = await initJolt();
|
||
|
|
||
|
}
|
||
|
|
||
|
const settings = new Jolt.JoltSettings();
|
||
|
setupCollisionFiltering( settings );
|
||
|
|
||
|
const jolt = new Jolt.JoltInterface( settings );
|
||
|
Jolt.destroy( settings );
|
||
|
|
||
|
const physicsSystem = jolt.GetPhysicsSystem();
|
||
|
const bodyInterface = physicsSystem.GetBodyInterface();
|
||
|
|
||
|
const meshes = [];
|
||
|
const meshMap = new WeakMap();
|
||
|
|
||
|
const _position = new Vector3();
|
||
|
const _quaternion = new Quaternion();
|
||
|
const _scale = new Vector3( 1, 1, 1 );
|
||
|
|
||
|
const _matrix = new Matrix4();
|
||
|
|
||
|
function addScene( scene ) {
|
||
|
|
||
|
scene.traverse( function ( child ) {
|
||
|
|
||
|
if ( child.isMesh ) {
|
||
|
|
||
|
const physics = child.userData.physics;
|
||
|
|
||
|
if ( physics ) {
|
||
|
|
||
|
addMesh( child, physics.mass, physics.restitution );
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
} );
|
||
|
|
||
|
}
|
||
|
|
||
|
function addMesh( mesh, mass = 0, restitution = 0 ) {
|
||
|
|
||
|
const shape = getShape( mesh.geometry );
|
||
|
|
||
|
if ( shape === null ) return;
|
||
|
|
||
|
const body = mesh.isInstancedMesh
|
||
|
? createInstancedBody( mesh, mass, restitution, shape )
|
||
|
: createBody( mesh.position, mesh.quaternion, mass, restitution, shape );
|
||
|
|
||
|
if ( mass > 0 ) {
|
||
|
|
||
|
meshes.push( mesh );
|
||
|
meshMap.set( mesh, body );
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
function createInstancedBody( mesh, mass, restitution, shape ) {
|
||
|
|
||
|
const array = mesh.instanceMatrix.array;
|
||
|
|
||
|
const bodies = [];
|
||
|
|
||
|
for ( let i = 0; i < mesh.count; i ++ ) {
|
||
|
|
||
|
const position = _position.fromArray( array, i * 16 + 12 );
|
||
|
const quaternion = _quaternion.setFromRotationMatrix( _matrix.fromArray( array, i * 16 ) ); // TODO Copilot did this
|
||
|
bodies.push( createBody( position, quaternion, mass, restitution, shape ) );
|
||
|
|
||
|
}
|
||
|
|
||
|
return bodies;
|
||
|
|
||
|
}
|
||
|
|
||
|
function createBody( position, rotation, mass, restitution, shape ) {
|
||
|
|
||
|
const pos = new Jolt.Vec3( position.x, position.y, position.z );
|
||
|
const rot = new Jolt.Quat( rotation.x, rotation.y, rotation.z, rotation.w );
|
||
|
|
||
|
const motion = mass > 0 ? Jolt.EMotionType_Dynamic : Jolt.EMotionType_Static;
|
||
|
const layer = mass > 0 ? LAYER_MOVING : LAYER_NON_MOVING;
|
||
|
|
||
|
const creationSettings = new Jolt.BodyCreationSettings( shape, pos, rot, motion, layer );
|
||
|
creationSettings.mRestitution = restitution;
|
||
|
|
||
|
const body = bodyInterface.CreateBody( creationSettings );
|
||
|
|
||
|
bodyInterface.AddBody( body.GetID(), Jolt.EActivation_Activate );
|
||
|
|
||
|
Jolt.destroy( creationSettings );
|
||
|
|
||
|
return body;
|
||
|
|
||
|
}
|
||
|
|
||
|
function setMeshPosition( mesh, position, index = 0 ) {
|
||
|
|
||
|
if ( mesh.isInstancedMesh ) {
|
||
|
|
||
|
const bodies = meshMap.get( mesh );
|
||
|
|
||
|
const body = bodies[ index ];
|
||
|
|
||
|
bodyInterface.RemoveBody( body.GetID() );
|
||
|
bodyInterface.DestroyBody( body.GetID() );
|
||
|
|
||
|
const physics = mesh.userData.physics;
|
||
|
|
||
|
let shape = body.GetShape();
|
||
|
let body2 = createBody( position, { x: 0, y: 0, z: 0, w: 1 }, physics.mass, physics.restitution, shape );
|
||
|
|
||
|
bodies[ index ] = body2;
|
||
|
|
||
|
} else {
|
||
|
|
||
|
// TODO: Implement this
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
function setMeshVelocity( mesh, velocity, index = 0 ) {
|
||
|
|
||
|
/*
|
||
|
let body = meshMap.get( mesh );
|
||
|
|
||
|
if ( mesh.isInstancedMesh ) {
|
||
|
|
||
|
body = body[ index ];
|
||
|
|
||
|
}
|
||
|
|
||
|
body.setLinvel( velocity );
|
||
|
*/
|
||
|
|
||
|
}
|
||
|
|
||
|
//
|
||
|
|
||
|
const clock = new Clock();
|
||
|
|
||
|
function step() {
|
||
|
|
||
|
let deltaTime = clock.getDelta();
|
||
|
|
||
|
// Don't go below 30 Hz to prevent spiral of death
|
||
|
deltaTime = Math.min( deltaTime, 1.0 / 30.0 );
|
||
|
|
||
|
// When running below 55 Hz, do 2 steps instead of 1
|
||
|
const numSteps = deltaTime > 1.0 / 55.0 ? 2 : 1;
|
||
|
|
||
|
// Step the physics world
|
||
|
jolt.Step( deltaTime, numSteps );
|
||
|
|
||
|
//
|
||
|
|
||
|
for ( let i = 0, l = meshes.length; i < l; i ++ ) {
|
||
|
|
||
|
const mesh = meshes[ i ];
|
||
|
|
||
|
if ( mesh.isInstancedMesh ) {
|
||
|
|
||
|
const array = mesh.instanceMatrix.array;
|
||
|
const bodies = meshMap.get( mesh );
|
||
|
|
||
|
for ( let j = 0; j < bodies.length; j ++ ) {
|
||
|
|
||
|
const body = bodies[ j ];
|
||
|
|
||
|
const position = body.GetPosition();
|
||
|
const quaternion = body.GetRotation();
|
||
|
|
||
|
_position.set( position.GetX(), position.GetY(), position.GetZ() );
|
||
|
_quaternion.set( quaternion.GetX(), quaternion.GetY(), quaternion.GetZ(), quaternion.GetW() );
|
||
|
|
||
|
_matrix.compose( _position, _quaternion, _scale ).toArray( array, j * 16 );
|
||
|
|
||
|
}
|
||
|
|
||
|
mesh.instanceMatrix.needsUpdate = true;
|
||
|
mesh.computeBoundingSphere();
|
||
|
|
||
|
} else {
|
||
|
|
||
|
const body = meshMap.get( mesh );
|
||
|
|
||
|
const position = body.GetPosition();
|
||
|
const rotation = body.GetRotation();
|
||
|
|
||
|
mesh.position.set( position.GetX(), position.GetY(), position.GetZ() );
|
||
|
mesh.quaternion.set( rotation.GetX(), rotation.GetY(), rotation.GetZ(), rotation.GetW() );
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
// animate
|
||
|
|
||
|
setInterval( step, 1000 / frameRate );
|
||
|
|
||
|
return {
|
||
|
addScene: addScene,
|
||
|
addMesh: addMesh,
|
||
|
setMeshPosition: setMeshPosition,
|
||
|
setMeshVelocity: setMeshVelocity
|
||
|
};
|
||
|
|
||
|
}
|
||
|
|
||
|
export { JoltPhysics };
|