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1407 lines
28 KiB
1407 lines
28 KiB
import {
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Bone,
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BoxGeometry,
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CapsuleGeometry,
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Color,
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Euler,
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Matrix4,
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Mesh,
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MeshBasicMaterial,
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Object3D,
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Quaternion,
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SphereGeometry,
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Vector3
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} from 'three';
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/**
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* Dependencies
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* - Ammo.js https://github.com/kripken/ammo.js
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*
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* MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)
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* for MMD model loaded by MMDLoader.
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*
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* TODO
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* - Physics in Worker
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*/
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/* global Ammo */
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class MMDPhysics {
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/**
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* @param {THREE.SkinnedMesh} mesh
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* @param {Array<Object>} rigidBodyParams
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* @param {Array<Object>} (optional) constraintParams
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* @param {Object} params - (optional)
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* @param {Number} params.unitStep - Default is 1 / 65.
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* @param {Integer} params.maxStepNum - Default is 3.
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* @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )
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*/
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constructor( mesh, rigidBodyParams, constraintParams = [], params = {} ) {
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if ( typeof Ammo === 'undefined' ) {
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throw new Error( 'THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js' );
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}
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this.manager = new ResourceManager();
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this.mesh = mesh;
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/*
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* I don't know why but 1/60 unitStep easily breaks models
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* so I set it 1/65 so far.
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* Don't set too small unitStep because
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* the smaller unitStep can make the performance worse.
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*/
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this.unitStep = ( params.unitStep !== undefined ) ? params.unitStep : 1 / 65;
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this.maxStepNum = ( params.maxStepNum !== undefined ) ? params.maxStepNum : 3;
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this.gravity = new Vector3( 0, - 9.8 * 10, 0 );
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if ( params.gravity !== undefined ) this.gravity.copy( params.gravity );
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this.world = params.world !== undefined ? params.world : null; // experimental
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this.bodies = [];
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this.constraints = [];
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this._init( mesh, rigidBodyParams, constraintParams );
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}
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/**
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* Advances Physics calculation and updates bones.
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*
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* @param {Number} delta - time in second
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* @return {MMDPhysics}
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*/
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update( delta ) {
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const manager = this.manager;
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const mesh = this.mesh;
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// rigid bodies and constrains are for
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// mesh's world scale (1, 1, 1).
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// Convert to (1, 1, 1) if it isn't.
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let isNonDefaultScale = false;
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const position = manager.allocThreeVector3();
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const quaternion = manager.allocThreeQuaternion();
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const scale = manager.allocThreeVector3();
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mesh.matrixWorld.decompose( position, quaternion, scale );
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if ( scale.x !== 1 || scale.y !== 1 || scale.z !== 1 ) {
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isNonDefaultScale = true;
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}
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let parent;
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if ( isNonDefaultScale ) {
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parent = mesh.parent;
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if ( parent !== null ) mesh.parent = null;
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scale.copy( this.mesh.scale );
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mesh.scale.set( 1, 1, 1 );
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mesh.updateMatrixWorld( true );
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}
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// calculate physics and update bones
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this._updateRigidBodies();
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this._stepSimulation( delta );
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this._updateBones();
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// restore mesh if converted above
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if ( isNonDefaultScale ) {
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if ( parent !== null ) mesh.parent = parent;
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mesh.scale.copy( scale );
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}
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manager.freeThreeVector3( scale );
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manager.freeThreeQuaternion( quaternion );
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manager.freeThreeVector3( position );
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return this;
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}
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/**
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* Resets rigid bodies transorm to current bone's.
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*
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* @return {MMDPhysics}
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*/
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reset() {
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for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
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this.bodies[ i ].reset();
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}
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return this;
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}
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/**
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* Warm ups Rigid bodies. Calculates cycles steps.
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*
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* @param {Integer} cycles
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* @return {MMDPhysics}
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*/
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warmup( cycles ) {
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for ( let i = 0; i < cycles; i ++ ) {
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this.update( 1 / 60 );
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}
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return this;
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}
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/**
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* Sets gravity.
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*
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* @param {Vector3} gravity
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* @return {MMDPhysicsHelper}
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*/
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setGravity( gravity ) {
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this.world.setGravity( new Ammo.btVector3( gravity.x, gravity.y, gravity.z ) );
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this.gravity.copy( gravity );
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return this;
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}
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/**
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* Creates MMDPhysicsHelper
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*
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* @return {MMDPhysicsHelper}
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*/
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createHelper() {
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return new MMDPhysicsHelper( this.mesh, this );
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}
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// private methods
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_init( mesh, rigidBodyParams, constraintParams ) {
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const manager = this.manager;
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// rigid body/constraint parameters are for
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// mesh's default world transform as position(0, 0, 0),
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// quaternion(0, 0, 0, 1) and scale(0, 0, 0)
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const parent = mesh.parent;
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if ( parent !== null ) mesh.parent = null;
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const currentPosition = manager.allocThreeVector3();
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const currentQuaternion = manager.allocThreeQuaternion();
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const currentScale = manager.allocThreeVector3();
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currentPosition.copy( mesh.position );
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currentQuaternion.copy( mesh.quaternion );
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currentScale.copy( mesh.scale );
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mesh.position.set( 0, 0, 0 );
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mesh.quaternion.set( 0, 0, 0, 1 );
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mesh.scale.set( 1, 1, 1 );
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mesh.updateMatrixWorld( true );
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if ( this.world === null ) {
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this.world = this._createWorld();
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this.setGravity( this.gravity );
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}
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this._initRigidBodies( rigidBodyParams );
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this._initConstraints( constraintParams );
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if ( parent !== null ) mesh.parent = parent;
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mesh.position.copy( currentPosition );
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mesh.quaternion.copy( currentQuaternion );
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mesh.scale.copy( currentScale );
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mesh.updateMatrixWorld( true );
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this.reset();
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manager.freeThreeVector3( currentPosition );
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manager.freeThreeQuaternion( currentQuaternion );
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manager.freeThreeVector3( currentScale );
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}
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_createWorld() {
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const config = new Ammo.btDefaultCollisionConfiguration();
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const dispatcher = new Ammo.btCollisionDispatcher( config );
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const cache = new Ammo.btDbvtBroadphase();
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const solver = new Ammo.btSequentialImpulseConstraintSolver();
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const world = new Ammo.btDiscreteDynamicsWorld( dispatcher, cache, solver, config );
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return world;
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}
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_initRigidBodies( rigidBodies ) {
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for ( let i = 0, il = rigidBodies.length; i < il; i ++ ) {
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this.bodies.push( new RigidBody(
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this.mesh, this.world, rigidBodies[ i ], this.manager ) );
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}
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}
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_initConstraints( constraints ) {
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for ( let i = 0, il = constraints.length; i < il; i ++ ) {
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const params = constraints[ i ];
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const bodyA = this.bodies[ params.rigidBodyIndex1 ];
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const bodyB = this.bodies[ params.rigidBodyIndex2 ];
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this.constraints.push( new Constraint( this.mesh, this.world, bodyA, bodyB, params, this.manager ) );
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}
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}
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_stepSimulation( delta ) {
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const unitStep = this.unitStep;
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let stepTime = delta;
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let maxStepNum = ( ( delta / unitStep ) | 0 ) + 1;
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if ( stepTime < unitStep ) {
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stepTime = unitStep;
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maxStepNum = 1;
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}
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if ( maxStepNum > this.maxStepNum ) {
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maxStepNum = this.maxStepNum;
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}
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this.world.stepSimulation( stepTime, maxStepNum, unitStep );
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}
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_updateRigidBodies() {
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for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
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this.bodies[ i ].updateFromBone();
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}
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}
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_updateBones() {
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for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
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this.bodies[ i ].updateBone();
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}
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}
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}
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/**
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* This manager's responsibilies are
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*
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* 1. manage Ammo.js and Three.js object resources and
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* improve the performance and the memory consumption by
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* reusing objects.
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*
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* 2. provide simple Ammo object operations.
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*/
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class ResourceManager {
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constructor() {
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// for Three.js
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this.threeVector3s = [];
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this.threeMatrix4s = [];
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this.threeQuaternions = [];
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this.threeEulers = [];
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// for Ammo.js
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this.transforms = [];
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this.quaternions = [];
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this.vector3s = [];
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}
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allocThreeVector3() {
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return ( this.threeVector3s.length > 0 )
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? this.threeVector3s.pop()
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: new Vector3();
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}
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freeThreeVector3( v ) {
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this.threeVector3s.push( v );
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}
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allocThreeMatrix4() {
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return ( this.threeMatrix4s.length > 0 )
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? this.threeMatrix4s.pop()
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: new Matrix4();
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}
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freeThreeMatrix4( m ) {
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this.threeMatrix4s.push( m );
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}
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allocThreeQuaternion() {
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return ( this.threeQuaternions.length > 0 )
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? this.threeQuaternions.pop()
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: new Quaternion();
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}
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freeThreeQuaternion( q ) {
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this.threeQuaternions.push( q );
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}
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allocThreeEuler() {
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return ( this.threeEulers.length > 0 )
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? this.threeEulers.pop()
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: new Euler();
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}
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freeThreeEuler( e ) {
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this.threeEulers.push( e );
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}
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allocTransform() {
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return ( this.transforms.length > 0 )
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? this.transforms.pop()
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: new Ammo.btTransform();
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}
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freeTransform( t ) {
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this.transforms.push( t );
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}
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allocQuaternion() {
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return ( this.quaternions.length > 0 )
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? this.quaternions.pop()
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: new Ammo.btQuaternion();
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}
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freeQuaternion( q ) {
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this.quaternions.push( q );
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}
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allocVector3() {
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return ( this.vector3s.length > 0 )
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? this.vector3s.pop()
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: new Ammo.btVector3();
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}
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freeVector3( v ) {
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this.vector3s.push( v );
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}
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setIdentity( t ) {
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t.setIdentity();
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}
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getBasis( t ) {
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var q = this.allocQuaternion();
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t.getBasis().getRotation( q );
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return q;
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}
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getBasisAsMatrix3( t ) {
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var q = this.getBasis( t );
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var m = this.quaternionToMatrix3( q );
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this.freeQuaternion( q );
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return m;
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}
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getOrigin( t ) {
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return t.getOrigin();
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}
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setOrigin( t, v ) {
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t.getOrigin().setValue( v.x(), v.y(), v.z() );
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}
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copyOrigin( t1, t2 ) {
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var o = t2.getOrigin();
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this.setOrigin( t1, o );
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}
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setBasis( t, q ) {
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t.setRotation( q );
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}
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setBasisFromMatrix3( t, m ) {
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var q = this.matrix3ToQuaternion( m );
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this.setBasis( t, q );
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this.freeQuaternion( q );
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}
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setOriginFromArray3( t, a ) {
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t.getOrigin().setValue( a[ 0 ], a[ 1 ], a[ 2 ] );
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}
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setOriginFromThreeVector3( t, v ) {
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t.getOrigin().setValue( v.x, v.y, v.z );
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}
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setBasisFromArray3( t, a ) {
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var thQ = this.allocThreeQuaternion();
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var thE = this.allocThreeEuler();
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thE.set( a[ 0 ], a[ 1 ], a[ 2 ] );
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this.setBasisFromThreeQuaternion( t, thQ.setFromEuler( thE ) );
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this.freeThreeEuler( thE );
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this.freeThreeQuaternion( thQ );
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}
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setBasisFromThreeQuaternion( t, a ) {
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var q = this.allocQuaternion();
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q.setX( a.x );
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q.setY( a.y );
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q.setZ( a.z );
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q.setW( a.w );
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this.setBasis( t, q );
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this.freeQuaternion( q );
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}
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multiplyTransforms( t1, t2 ) {
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var t = this.allocTransform();
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this.setIdentity( t );
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var m1 = this.getBasisAsMatrix3( t1 );
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var m2 = this.getBasisAsMatrix3( t2 );
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var o1 = this.getOrigin( t1 );
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var o2 = this.getOrigin( t2 );
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var v1 = this.multiplyMatrix3ByVector3( m1, o2 );
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var v2 = this.addVector3( v1, o1 );
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this.setOrigin( t, v2 );
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var m3 = this.multiplyMatrices3( m1, m2 );
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this.setBasisFromMatrix3( t, m3 );
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this.freeVector3( v1 );
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this.freeVector3( v2 );
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return t;
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}
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inverseTransform( t ) {
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var t2 = this.allocTransform();
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var m1 = this.getBasisAsMatrix3( t );
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var o = this.getOrigin( t );
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var m2 = this.transposeMatrix3( m1 );
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var v1 = this.negativeVector3( o );
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var v2 = this.multiplyMatrix3ByVector3( m2, v1 );
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this.setOrigin( t2, v2 );
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this.setBasisFromMatrix3( t2, m2 );
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this.freeVector3( v1 );
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this.freeVector3( v2 );
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return t2;
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}
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multiplyMatrices3( m1, m2 ) {
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var m3 = [];
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var v10 = this.rowOfMatrix3( m1, 0 );
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var v11 = this.rowOfMatrix3( m1, 1 );
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var v12 = this.rowOfMatrix3( m1, 2 );
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var v20 = this.columnOfMatrix3( m2, 0 );
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var v21 = this.columnOfMatrix3( m2, 1 );
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var v22 = this.columnOfMatrix3( m2, 2 );
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m3[ 0 ] = this.dotVectors3( v10, v20 );
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m3[ 1 ] = this.dotVectors3( v10, v21 );
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m3[ 2 ] = this.dotVectors3( v10, v22 );
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m3[ 3 ] = this.dotVectors3( v11, v20 );
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m3[ 4 ] = this.dotVectors3( v11, v21 );
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m3[ 5 ] = this.dotVectors3( v11, v22 );
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m3[ 6 ] = this.dotVectors3( v12, v20 );
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m3[ 7 ] = this.dotVectors3( v12, v21 );
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m3[ 8 ] = this.dotVectors3( v12, v22 );
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this.freeVector3( v10 );
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this.freeVector3( v11 );
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this.freeVector3( v12 );
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this.freeVector3( v20 );
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this.freeVector3( v21 );
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this.freeVector3( v22 );
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return m3;
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}
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|
|
addVector3( v1, v2 ) {
|
|
|
|
var v = this.allocVector3();
|
|
v.setValue( v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z() );
|
|
return v;
|
|
|
|
}
|
|
|
|
dotVectors3( v1, v2 ) {
|
|
|
|
return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
|
|
|
|
}
|
|
|
|
rowOfMatrix3( m, i ) {
|
|
|
|
var v = this.allocVector3();
|
|
v.setValue( m[ i * 3 + 0 ], m[ i * 3 + 1 ], m[ i * 3 + 2 ] );
|
|
return v;
|
|
|
|
}
|
|
|
|
columnOfMatrix3( m, i ) {
|
|
|
|
var v = this.allocVector3();
|
|
v.setValue( m[ i + 0 ], m[ i + 3 ], m[ i + 6 ] );
|
|
return v;
|
|
|
|
}
|
|
|
|
negativeVector3( v ) {
|
|
|
|
var v2 = this.allocVector3();
|
|
v2.setValue( - v.x(), - v.y(), - v.z() );
|
|
return v2;
|
|
|
|
}
|
|
|
|
multiplyMatrix3ByVector3( m, v ) {
|
|
|
|
var v4 = this.allocVector3();
|
|
|
|
var v0 = this.rowOfMatrix3( m, 0 );
|
|
var v1 = this.rowOfMatrix3( m, 1 );
|
|
var v2 = this.rowOfMatrix3( m, 2 );
|
|
var x = this.dotVectors3( v0, v );
|
|
var y = this.dotVectors3( v1, v );
|
|
var z = this.dotVectors3( v2, v );
|
|
|
|
v4.setValue( x, y, z );
|
|
|
|
this.freeVector3( v0 );
|
|
this.freeVector3( v1 );
|
|
this.freeVector3( v2 );
|
|
|
|
return v4;
|
|
|
|
}
|
|
|
|
transposeMatrix3( m ) {
|
|
|
|
var m2 = [];
|
|
m2[ 0 ] = m[ 0 ];
|
|
m2[ 1 ] = m[ 3 ];
|
|
m2[ 2 ] = m[ 6 ];
|
|
m2[ 3 ] = m[ 1 ];
|
|
m2[ 4 ] = m[ 4 ];
|
|
m2[ 5 ] = m[ 7 ];
|
|
m2[ 6 ] = m[ 2 ];
|
|
m2[ 7 ] = m[ 5 ];
|
|
m2[ 8 ] = m[ 8 ];
|
|
return m2;
|
|
|
|
}
|
|
|
|
quaternionToMatrix3( q ) {
|
|
|
|
var m = [];
|
|
|
|
var x = q.x();
|
|
var y = q.y();
|
|
var z = q.z();
|
|
var w = q.w();
|
|
|
|
var xx = x * x;
|
|
var yy = y * y;
|
|
var zz = z * z;
|
|
|
|
var xy = x * y;
|
|
var yz = y * z;
|
|
var zx = z * x;
|
|
|
|
var xw = x * w;
|
|
var yw = y * w;
|
|
var zw = z * w;
|
|
|
|
m[ 0 ] = 1 - 2 * ( yy + zz );
|
|
m[ 1 ] = 2 * ( xy - zw );
|
|
m[ 2 ] = 2 * ( zx + yw );
|
|
m[ 3 ] = 2 * ( xy + zw );
|
|
m[ 4 ] = 1 - 2 * ( zz + xx );
|
|
m[ 5 ] = 2 * ( yz - xw );
|
|
m[ 6 ] = 2 * ( zx - yw );
|
|
m[ 7 ] = 2 * ( yz + xw );
|
|
m[ 8 ] = 1 - 2 * ( xx + yy );
|
|
|
|
return m;
|
|
|
|
}
|
|
|
|
matrix3ToQuaternion( m ) {
|
|
|
|
var t = m[ 0 ] + m[ 4 ] + m[ 8 ];
|
|
var s, x, y, z, w;
|
|
|
|
if ( t > 0 ) {
|
|
|
|
s = Math.sqrt( t + 1.0 ) * 2;
|
|
w = 0.25 * s;
|
|
x = ( m[ 7 ] - m[ 5 ] ) / s;
|
|
y = ( m[ 2 ] - m[ 6 ] ) / s;
|
|
z = ( m[ 3 ] - m[ 1 ] ) / s;
|
|
|
|
} else if ( ( m[ 0 ] > m[ 4 ] ) && ( m[ 0 ] > m[ 8 ] ) ) {
|
|
|
|
s = Math.sqrt( 1.0 + m[ 0 ] - m[ 4 ] - m[ 8 ] ) * 2;
|
|
w = ( m[ 7 ] - m[ 5 ] ) / s;
|
|
x = 0.25 * s;
|
|
y = ( m[ 1 ] + m[ 3 ] ) / s;
|
|
z = ( m[ 2 ] + m[ 6 ] ) / s;
|
|
|
|
} else if ( m[ 4 ] > m[ 8 ] ) {
|
|
|
|
s = Math.sqrt( 1.0 + m[ 4 ] - m[ 0 ] - m[ 8 ] ) * 2;
|
|
w = ( m[ 2 ] - m[ 6 ] ) / s;
|
|
x = ( m[ 1 ] + m[ 3 ] ) / s;
|
|
y = 0.25 * s;
|
|
z = ( m[ 5 ] + m[ 7 ] ) / s;
|
|
|
|
} else {
|
|
|
|
s = Math.sqrt( 1.0 + m[ 8 ] - m[ 0 ] - m[ 4 ] ) * 2;
|
|
w = ( m[ 3 ] - m[ 1 ] ) / s;
|
|
x = ( m[ 2 ] + m[ 6 ] ) / s;
|
|
y = ( m[ 5 ] + m[ 7 ] ) / s;
|
|
z = 0.25 * s;
|
|
|
|
}
|
|
|
|
var q = this.allocQuaternion();
|
|
q.setX( x );
|
|
q.setY( y );
|
|
q.setZ( z );
|
|
q.setW( w );
|
|
return q;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/**
|
|
* @param {THREE.SkinnedMesh} mesh
|
|
* @param {Ammo.btDiscreteDynamicsWorld} world
|
|
* @param {Object} params
|
|
* @param {ResourceManager} manager
|
|
*/
|
|
class RigidBody {
|
|
|
|
constructor( mesh, world, params, manager ) {
|
|
|
|
this.mesh = mesh;
|
|
this.world = world;
|
|
this.params = params;
|
|
this.manager = manager;
|
|
|
|
this.body = null;
|
|
this.bone = null;
|
|
this.boneOffsetForm = null;
|
|
this.boneOffsetFormInverse = null;
|
|
|
|
this._init();
|
|
|
|
}
|
|
|
|
/**
|
|
* Resets rigid body transform to the current bone's.
|
|
*
|
|
* @return {RigidBody}
|
|
*/
|
|
reset() {
|
|
|
|
this._setTransformFromBone();
|
|
return this;
|
|
|
|
}
|
|
|
|
/**
|
|
* Updates rigid body's transform from the current bone.
|
|
*
|
|
* @return {RidigBody}
|
|
*/
|
|
updateFromBone() {
|
|
|
|
if ( this.params.boneIndex !== - 1 && this.params.type === 0 ) {
|
|
|
|
this._setTransformFromBone();
|
|
|
|
}
|
|
|
|
return this;
|
|
|
|
}
|
|
|
|
/**
|
|
* Updates bone from the current ridid body's transform.
|
|
*
|
|
* @return {RidigBody}
|
|
*/
|
|
updateBone() {
|
|
|
|
if ( this.params.type === 0 || this.params.boneIndex === - 1 ) {
|
|
|
|
return this;
|
|
|
|
}
|
|
|
|
this._updateBoneRotation();
|
|
|
|
if ( this.params.type === 1 ) {
|
|
|
|
this._updateBonePosition();
|
|
|
|
}
|
|
|
|
this.bone.updateMatrixWorld( true );
|
|
|
|
if ( this.params.type === 2 ) {
|
|
|
|
this._setPositionFromBone();
|
|
|
|
}
|
|
|
|
return this;
|
|
|
|
}
|
|
|
|
// private methods
|
|
|
|
_init() {
|
|
|
|
function generateShape( p ) {
|
|
|
|
switch ( p.shapeType ) {
|
|
|
|
case 0:
|
|
return new Ammo.btSphereShape( p.width );
|
|
|
|
case 1:
|
|
return new Ammo.btBoxShape( new Ammo.btVector3( p.width, p.height, p.depth ) );
|
|
|
|
case 2:
|
|
return new Ammo.btCapsuleShape( p.width, p.height );
|
|
|
|
default:
|
|
throw new Error( 'unknown shape type ' + p.shapeType );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
const manager = this.manager;
|
|
const params = this.params;
|
|
const bones = this.mesh.skeleton.bones;
|
|
const bone = ( params.boneIndex === - 1 )
|
|
? new Bone()
|
|
: bones[ params.boneIndex ];
|
|
|
|
const shape = generateShape( params );
|
|
const weight = ( params.type === 0 ) ? 0 : params.weight;
|
|
const localInertia = manager.allocVector3();
|
|
localInertia.setValue( 0, 0, 0 );
|
|
|
|
if ( weight !== 0 ) {
|
|
|
|
shape.calculateLocalInertia( weight, localInertia );
|
|
|
|
}
|
|
|
|
const boneOffsetForm = manager.allocTransform();
|
|
manager.setIdentity( boneOffsetForm );
|
|
manager.setOriginFromArray3( boneOffsetForm, params.position );
|
|
manager.setBasisFromArray3( boneOffsetForm, params.rotation );
|
|
|
|
const vector = manager.allocThreeVector3();
|
|
const boneForm = manager.allocTransform();
|
|
manager.setIdentity( boneForm );
|
|
manager.setOriginFromThreeVector3( boneForm, bone.getWorldPosition( vector ) );
|
|
|
|
const form = manager.multiplyTransforms( boneForm, boneOffsetForm );
|
|
const state = new Ammo.btDefaultMotionState( form );
|
|
|
|
const info = new Ammo.btRigidBodyConstructionInfo( weight, state, shape, localInertia );
|
|
info.set_m_friction( params.friction );
|
|
info.set_m_restitution( params.restitution );
|
|
|
|
const body = new Ammo.btRigidBody( info );
|
|
|
|
if ( params.type === 0 ) {
|
|
|
|
body.setCollisionFlags( body.getCollisionFlags() | 2 );
|
|
|
|
/*
|
|
* It'd be better to comment out this line though in general I should call this method
|
|
* because I'm not sure why but physics will be more like MMD's
|
|
* if I comment out.
|
|
*/
|
|
body.setActivationState( 4 );
|
|
|
|
}
|
|
|
|
body.setDamping( params.positionDamping, params.rotationDamping );
|
|
body.setSleepingThresholds( 0, 0 );
|
|
|
|
this.world.addRigidBody( body, 1 << params.groupIndex, params.groupTarget );
|
|
|
|
this.body = body;
|
|
this.bone = bone;
|
|
this.boneOffsetForm = boneOffsetForm;
|
|
this.boneOffsetFormInverse = manager.inverseTransform( boneOffsetForm );
|
|
|
|
manager.freeVector3( localInertia );
|
|
manager.freeTransform( form );
|
|
manager.freeTransform( boneForm );
|
|
manager.freeThreeVector3( vector );
|
|
|
|
}
|
|
|
|
_getBoneTransform() {
|
|
|
|
const manager = this.manager;
|
|
const p = manager.allocThreeVector3();
|
|
const q = manager.allocThreeQuaternion();
|
|
const s = manager.allocThreeVector3();
|
|
|
|
this.bone.matrixWorld.decompose( p, q, s );
|
|
|
|
const tr = manager.allocTransform();
|
|
manager.setOriginFromThreeVector3( tr, p );
|
|
manager.setBasisFromThreeQuaternion( tr, q );
|
|
|
|
const form = manager.multiplyTransforms( tr, this.boneOffsetForm );
|
|
|
|
manager.freeTransform( tr );
|
|
manager.freeThreeVector3( s );
|
|
manager.freeThreeQuaternion( q );
|
|
manager.freeThreeVector3( p );
|
|
|
|
return form;
|
|
|
|
}
|
|
|
|
_getWorldTransformForBone() {
|
|
|
|
const manager = this.manager;
|
|
const tr = this.body.getCenterOfMassTransform();
|
|
return manager.multiplyTransforms( tr, this.boneOffsetFormInverse );
|
|
|
|
}
|
|
|
|
_setTransformFromBone() {
|
|
|
|
const manager = this.manager;
|
|
const form = this._getBoneTransform();
|
|
|
|
// TODO: check the most appropriate way to set
|
|
//this.body.setWorldTransform( form );
|
|
this.body.setCenterOfMassTransform( form );
|
|
this.body.getMotionState().setWorldTransform( form );
|
|
|
|
manager.freeTransform( form );
|
|
|
|
}
|
|
|
|
_setPositionFromBone() {
|
|
|
|
const manager = this.manager;
|
|
const form = this._getBoneTransform();
|
|
|
|
const tr = manager.allocTransform();
|
|
this.body.getMotionState().getWorldTransform( tr );
|
|
manager.copyOrigin( tr, form );
|
|
|
|
// TODO: check the most appropriate way to set
|
|
//this.body.setWorldTransform( tr );
|
|
this.body.setCenterOfMassTransform( tr );
|
|
this.body.getMotionState().setWorldTransform( tr );
|
|
|
|
manager.freeTransform( tr );
|
|
manager.freeTransform( form );
|
|
|
|
}
|
|
|
|
_updateBoneRotation() {
|
|
|
|
const manager = this.manager;
|
|
|
|
const tr = this._getWorldTransformForBone();
|
|
const q = manager.getBasis( tr );
|
|
|
|
const thQ = manager.allocThreeQuaternion();
|
|
const thQ2 = manager.allocThreeQuaternion();
|
|
const thQ3 = manager.allocThreeQuaternion();
|
|
|
|
thQ.set( q.x(), q.y(), q.z(), q.w() );
|
|
thQ2.setFromRotationMatrix( this.bone.matrixWorld );
|
|
thQ2.conjugate();
|
|
thQ2.multiply( thQ );
|
|
|
|
//this.bone.quaternion.multiply( thQ2 );
|
|
|
|
thQ3.setFromRotationMatrix( this.bone.matrix );
|
|
|
|
// Renormalizing quaternion here because repeatedly transforming
|
|
// quaternion continuously accumulates floating point error and
|
|
// can end up being overflow. See #15335
|
|
this.bone.quaternion.copy( thQ2.multiply( thQ3 ).normalize() );
|
|
|
|
manager.freeThreeQuaternion( thQ );
|
|
manager.freeThreeQuaternion( thQ2 );
|
|
manager.freeThreeQuaternion( thQ3 );
|
|
|
|
manager.freeQuaternion( q );
|
|
manager.freeTransform( tr );
|
|
|
|
}
|
|
|
|
_updateBonePosition() {
|
|
|
|
const manager = this.manager;
|
|
|
|
const tr = this._getWorldTransformForBone();
|
|
|
|
const thV = manager.allocThreeVector3();
|
|
|
|
const o = manager.getOrigin( tr );
|
|
thV.set( o.x(), o.y(), o.z() );
|
|
|
|
if ( this.bone.parent ) {
|
|
|
|
this.bone.parent.worldToLocal( thV );
|
|
|
|
}
|
|
|
|
this.bone.position.copy( thV );
|
|
|
|
manager.freeThreeVector3( thV );
|
|
|
|
manager.freeTransform( tr );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
//
|
|
|
|
class Constraint {
|
|
|
|
/**
|
|
* @param {THREE.SkinnedMesh} mesh
|
|
* @param {Ammo.btDiscreteDynamicsWorld} world
|
|
* @param {RigidBody} bodyA
|
|
* @param {RigidBody} bodyB
|
|
* @param {Object} params
|
|
* @param {ResourceManager} manager
|
|
*/
|
|
constructor( mesh, world, bodyA, bodyB, params, manager ) {
|
|
|
|
this.mesh = mesh;
|
|
this.world = world;
|
|
this.bodyA = bodyA;
|
|
this.bodyB = bodyB;
|
|
this.params = params;
|
|
this.manager = manager;
|
|
|
|
this.constraint = null;
|
|
|
|
this._init();
|
|
|
|
}
|
|
|
|
// private method
|
|
|
|
_init() {
|
|
|
|
const manager = this.manager;
|
|
const params = this.params;
|
|
const bodyA = this.bodyA;
|
|
const bodyB = this.bodyB;
|
|
|
|
const form = manager.allocTransform();
|
|
manager.setIdentity( form );
|
|
manager.setOriginFromArray3( form, params.position );
|
|
manager.setBasisFromArray3( form, params.rotation );
|
|
|
|
const formA = manager.allocTransform();
|
|
const formB = manager.allocTransform();
|
|
|
|
bodyA.body.getMotionState().getWorldTransform( formA );
|
|
bodyB.body.getMotionState().getWorldTransform( formB );
|
|
|
|
const formInverseA = manager.inverseTransform( formA );
|
|
const formInverseB = manager.inverseTransform( formB );
|
|
|
|
const formA2 = manager.multiplyTransforms( formInverseA, form );
|
|
const formB2 = manager.multiplyTransforms( formInverseB, form );
|
|
|
|
const constraint = new Ammo.btGeneric6DofSpringConstraint( bodyA.body, bodyB.body, formA2, formB2, true );
|
|
|
|
const lll = manager.allocVector3();
|
|
const lul = manager.allocVector3();
|
|
const all = manager.allocVector3();
|
|
const aul = manager.allocVector3();
|
|
|
|
lll.setValue( params.translationLimitation1[ 0 ],
|
|
params.translationLimitation1[ 1 ],
|
|
params.translationLimitation1[ 2 ] );
|
|
lul.setValue( params.translationLimitation2[ 0 ],
|
|
params.translationLimitation2[ 1 ],
|
|
params.translationLimitation2[ 2 ] );
|
|
all.setValue( params.rotationLimitation1[ 0 ],
|
|
params.rotationLimitation1[ 1 ],
|
|
params.rotationLimitation1[ 2 ] );
|
|
aul.setValue( params.rotationLimitation2[ 0 ],
|
|
params.rotationLimitation2[ 1 ],
|
|
params.rotationLimitation2[ 2 ] );
|
|
|
|
constraint.setLinearLowerLimit( lll );
|
|
constraint.setLinearUpperLimit( lul );
|
|
constraint.setAngularLowerLimit( all );
|
|
constraint.setAngularUpperLimit( aul );
|
|
|
|
for ( let i = 0; i < 3; i ++ ) {
|
|
|
|
if ( params.springPosition[ i ] !== 0 ) {
|
|
|
|
constraint.enableSpring( i, true );
|
|
constraint.setStiffness( i, params.springPosition[ i ] );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
for ( let i = 0; i < 3; i ++ ) {
|
|
|
|
if ( params.springRotation[ i ] !== 0 ) {
|
|
|
|
constraint.enableSpring( i + 3, true );
|
|
constraint.setStiffness( i + 3, params.springRotation[ i ] );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/*
|
|
* Currently(10/31/2016) official ammo.js doesn't support
|
|
* btGeneric6DofSpringConstraint.setParam method.
|
|
* You need custom ammo.js (add the method into idl) if you wanna use.
|
|
* By setting this parameter, physics will be more like MMD's
|
|
*/
|
|
if ( constraint.setParam !== undefined ) {
|
|
|
|
for ( let i = 0; i < 6; i ++ ) {
|
|
|
|
constraint.setParam( 2, 0.475, i );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
this.world.addConstraint( constraint, true );
|
|
this.constraint = constraint;
|
|
|
|
manager.freeTransform( form );
|
|
manager.freeTransform( formA );
|
|
manager.freeTransform( formB );
|
|
manager.freeTransform( formInverseA );
|
|
manager.freeTransform( formInverseB );
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manager.freeTransform( formA2 );
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manager.freeTransform( formB2 );
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manager.freeVector3( lll );
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manager.freeVector3( lul );
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|
manager.freeVector3( all );
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|
manager.freeVector3( aul );
|
|
|
|
}
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|
|
|
}
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|
|
|
//
|
|
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const _position = new Vector3();
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const _quaternion = new Quaternion();
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const _scale = new Vector3();
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const _matrixWorldInv = new Matrix4();
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|
|
|
class MMDPhysicsHelper extends Object3D {
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|
|
|
/**
|
|
* Visualize Rigid bodies
|
|
*
|
|
* @param {THREE.SkinnedMesh} mesh
|
|
* @param {Physics} physics
|
|
*/
|
|
constructor( mesh, physics ) {
|
|
|
|
super();
|
|
|
|
this.root = mesh;
|
|
this.physics = physics;
|
|
|
|
this.matrix.copy( mesh.matrixWorld );
|
|
this.matrixAutoUpdate = false;
|
|
|
|
this.materials = [];
|
|
|
|
this.materials.push(
|
|
new MeshBasicMaterial( {
|
|
color: new Color( 0xff8888 ),
|
|
wireframe: true,
|
|
depthTest: false,
|
|
depthWrite: false,
|
|
opacity: 0.25,
|
|
transparent: true
|
|
} )
|
|
);
|
|
|
|
this.materials.push(
|
|
new MeshBasicMaterial( {
|
|
color: new Color( 0x88ff88 ),
|
|
wireframe: true,
|
|
depthTest: false,
|
|
depthWrite: false,
|
|
opacity: 0.25,
|
|
transparent: true
|
|
} )
|
|
);
|
|
|
|
this.materials.push(
|
|
new MeshBasicMaterial( {
|
|
color: new Color( 0x8888ff ),
|
|
wireframe: true,
|
|
depthTest: false,
|
|
depthWrite: false,
|
|
opacity: 0.25,
|
|
transparent: true
|
|
} )
|
|
);
|
|
|
|
this._init();
|
|
|
|
}
|
|
|
|
|
|
/**
|
|
* Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.
|
|
*/
|
|
dispose() {
|
|
|
|
const materials = this.materials;
|
|
const children = this.children;
|
|
|
|
for ( let i = 0; i < materials.length; i ++ ) {
|
|
|
|
materials[ i ].dispose();
|
|
|
|
}
|
|
|
|
for ( let i = 0; i < children.length; i ++ ) {
|
|
|
|
const child = children[ i ];
|
|
|
|
if ( child.isMesh ) child.geometry.dispose();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/**
|
|
* Updates Rigid Bodies visualization.
|
|
*/
|
|
updateMatrixWorld( force ) {
|
|
|
|
var mesh = this.root;
|
|
|
|
if ( this.visible ) {
|
|
|
|
var bodies = this.physics.bodies;
|
|
|
|
_matrixWorldInv
|
|
.copy( mesh.matrixWorld )
|
|
.decompose( _position, _quaternion, _scale )
|
|
.compose( _position, _quaternion, _scale.set( 1, 1, 1 ) )
|
|
.invert();
|
|
|
|
for ( var i = 0, il = bodies.length; i < il; i ++ ) {
|
|
|
|
var body = bodies[ i ].body;
|
|
var child = this.children[ i ];
|
|
|
|
var tr = body.getCenterOfMassTransform();
|
|
var origin = tr.getOrigin();
|
|
var rotation = tr.getRotation();
|
|
|
|
child.position
|
|
.set( origin.x(), origin.y(), origin.z() )
|
|
.applyMatrix4( _matrixWorldInv );
|
|
|
|
child.quaternion
|
|
.setFromRotationMatrix( _matrixWorldInv )
|
|
.multiply(
|
|
_quaternion.set( rotation.x(), rotation.y(), rotation.z(), rotation.w() )
|
|
);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
this.matrix
|
|
.copy( mesh.matrixWorld )
|
|
.decompose( _position, _quaternion, _scale )
|
|
.compose( _position, _quaternion, _scale.set( 1, 1, 1 ) );
|
|
|
|
super.updateMatrixWorld( force );
|
|
|
|
}
|
|
|
|
// private method
|
|
|
|
_init() {
|
|
|
|
var bodies = this.physics.bodies;
|
|
|
|
function createGeometry( param ) {
|
|
|
|
switch ( param.shapeType ) {
|
|
|
|
case 0:
|
|
return new SphereGeometry( param.width, 16, 8 );
|
|
|
|
case 1:
|
|
return new BoxGeometry( param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8 );
|
|
|
|
case 2:
|
|
return new CapsuleGeometry( param.width, param.height, 8, 16 );
|
|
|
|
default:
|
|
return null;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
for ( var i = 0, il = bodies.length; i < il; i ++ ) {
|
|
|
|
var param = bodies[ i ].params;
|
|
this.add( new Mesh( createGeometry( param ), this.materials[ param.type ] ) );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
export { MMDPhysics };
|