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307 lines
6.9 KiB
307 lines
6.9 KiB
6 months ago
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async function AmmoPhysics() {
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if ( 'Ammo' in window === false ) {
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console.error( 'AmmoPhysics: Couldn\'t find Ammo.js' );
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return;
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}
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const AmmoLib = await Ammo(); // eslint-disable-line no-undef
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const frameRate = 60;
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const collisionConfiguration = new AmmoLib.btDefaultCollisionConfiguration();
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const dispatcher = new AmmoLib.btCollisionDispatcher( collisionConfiguration );
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const broadphase = new AmmoLib.btDbvtBroadphase();
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const solver = new AmmoLib.btSequentialImpulseConstraintSolver();
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const world = new AmmoLib.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
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world.setGravity( new AmmoLib.btVector3( 0, - 9.8, 0 ) );
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const worldTransform = new AmmoLib.btTransform();
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//
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function getShape( geometry ) {
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const parameters = geometry.parameters;
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// TODO change type to is*
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if ( geometry.type === 'BoxGeometry' ) {
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const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
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const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
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const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
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const shape = new AmmoLib.btBoxShape( new AmmoLib.btVector3( sx, sy, sz ) );
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shape.setMargin( 0.05 );
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return shape;
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} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
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const radius = parameters.radius !== undefined ? parameters.radius : 1;
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const shape = new AmmoLib.btSphereShape( radius );
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shape.setMargin( 0.05 );
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return shape;
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}
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return null;
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}
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const meshes = [];
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const meshMap = new WeakMap();
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function addScene( scene ) {
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scene.traverse( function ( child ) {
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if ( child.isMesh ) {
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const physics = child.userData.physics;
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if ( physics ) {
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addMesh( child, physics.mass );
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}
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}
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} );
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}
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function addMesh( mesh, mass = 0 ) {
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const shape = getShape( mesh.geometry );
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if ( shape !== null ) {
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if ( mesh.isInstancedMesh ) {
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handleInstancedMesh( mesh, mass, shape );
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} else if ( mesh.isMesh ) {
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handleMesh( mesh, mass, shape );
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}
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}
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}
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function handleMesh( mesh, mass, shape ) {
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const position = mesh.position;
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const quaternion = mesh.quaternion;
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const transform = new AmmoLib.btTransform();
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transform.setIdentity();
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transform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
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transform.setRotation( new AmmoLib.btQuaternion( quaternion.x, quaternion.y, quaternion.z, quaternion.w ) );
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const motionState = new AmmoLib.btDefaultMotionState( transform );
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const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
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shape.calculateLocalInertia( mass, localInertia );
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const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
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const body = new AmmoLib.btRigidBody( rbInfo );
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// body.setFriction( 4 );
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world.addRigidBody( body );
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if ( mass > 0 ) {
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meshes.push( mesh );
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meshMap.set( mesh, body );
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}
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}
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function handleInstancedMesh( mesh, mass, shape ) {
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const array = mesh.instanceMatrix.array;
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const bodies = [];
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for ( let i = 0; i < mesh.count; i ++ ) {
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const index = i * 16;
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const transform = new AmmoLib.btTransform();
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transform.setFromOpenGLMatrix( array.slice( index, index + 16 ) );
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const motionState = new AmmoLib.btDefaultMotionState( transform );
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const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
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shape.calculateLocalInertia( mass, localInertia );
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const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
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const body = new AmmoLib.btRigidBody( rbInfo );
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world.addRigidBody( body );
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bodies.push( body );
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}
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if ( mass > 0 ) {
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meshes.push( mesh );
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meshMap.set( mesh, bodies );
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}
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}
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//
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function setMeshPosition( mesh, position, index = 0 ) {
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if ( mesh.isInstancedMesh ) {
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const bodies = meshMap.get( mesh );
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const body = bodies[ index ];
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body.setAngularVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
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body.setLinearVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
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worldTransform.setIdentity();
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worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
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body.setWorldTransform( worldTransform );
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} else if ( mesh.isMesh ) {
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const body = meshMap.get( mesh );
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body.setAngularVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
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body.setLinearVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
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worldTransform.setIdentity();
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worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
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body.setWorldTransform( worldTransform );
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}
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}
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//
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let lastTime = 0;
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function step() {
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const time = performance.now();
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if ( lastTime > 0 ) {
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const delta = ( time - lastTime ) / 1000;
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world.stepSimulation( delta, 10 );
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//
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for ( let i = 0, l = meshes.length; i < l; i ++ ) {
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const mesh = meshes[ i ];
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if ( mesh.isInstancedMesh ) {
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const array = mesh.instanceMatrix.array;
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const bodies = meshMap.get( mesh );
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for ( let j = 0; j < bodies.length; j ++ ) {
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const body = bodies[ j ];
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const motionState = body.getMotionState();
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motionState.getWorldTransform( worldTransform );
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const position = worldTransform.getOrigin();
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const quaternion = worldTransform.getRotation();
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compose( position, quaternion, array, j * 16 );
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}
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mesh.instanceMatrix.needsUpdate = true;
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mesh.computeBoundingSphere();
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} else if ( mesh.isMesh ) {
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const body = meshMap.get( mesh );
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const motionState = body.getMotionState();
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motionState.getWorldTransform( worldTransform );
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const position = worldTransform.getOrigin();
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const quaternion = worldTransform.getRotation();
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mesh.position.set( position.x(), position.y(), position.z() );
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mesh.quaternion.set( quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w() );
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}
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}
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}
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lastTime = time;
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}
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// animate
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setInterval( step, 1000 / frameRate );
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return {
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addScene: addScene,
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addMesh: addMesh,
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setMeshPosition: setMeshPosition
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// addCompoundMesh
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};
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}
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function compose( position, quaternion, array, index ) {
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const x = quaternion.x(), y = quaternion.y(), z = quaternion.z(), w = quaternion.w();
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const x2 = x + x, y2 = y + y, z2 = z + z;
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const xx = x * x2, xy = x * y2, xz = x * z2;
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const yy = y * y2, yz = y * z2, zz = z * z2;
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const wx = w * x2, wy = w * y2, wz = w * z2;
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array[ index + 0 ] = ( 1 - ( yy + zz ) );
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array[ index + 1 ] = ( xy + wz );
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array[ index + 2 ] = ( xz - wy );
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array[ index + 3 ] = 0;
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array[ index + 4 ] = ( xy - wz );
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array[ index + 5 ] = ( 1 - ( xx + zz ) );
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array[ index + 6 ] = ( yz + wx );
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array[ index + 7 ] = 0;
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array[ index + 8 ] = ( xz + wy );
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array[ index + 9 ] = ( yz - wx );
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array[ index + 10 ] = ( 1 - ( xx + yy ) );
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array[ index + 11 ] = 0;
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array[ index + 12 ] = position.x();
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array[ index + 13 ] = position.y();
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array[ index + 14 ] = position.z();
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array[ index + 15 ] = 1;
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}
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export { AmmoPhysics };
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