最新代码

public/sdk/three/jsm/physics/AmmoPhysics.js

@@ -0,0 +1,306 @@
+async function AmmoPhysics() {
+
+	if ( 'Ammo' in window === false ) {
+
+		console.error( 'AmmoPhysics: Couldn\'t find Ammo.js' );
+		return;
+
+	}
+
+	const AmmoLib = await Ammo(); // eslint-disable-line no-undef
+
+	const frameRate = 60;
+
+	const collisionConfiguration = new AmmoLib.btDefaultCollisionConfiguration();
+	const dispatcher = new AmmoLib.btCollisionDispatcher( collisionConfiguration );
+	const broadphase = new AmmoLib.btDbvtBroadphase();
+	const solver = new AmmoLib.btSequentialImpulseConstraintSolver();
+	const world = new AmmoLib.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
+	world.setGravity( new AmmoLib.btVector3( 0, - 9.8, 0 ) );
+
+	const worldTransform = new AmmoLib.btTransform();
+
+	//
+
+	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;
+
+			const shape = new AmmoLib.btBoxShape( new AmmoLib.btVector3( sx, sy, sz ) );
+			shape.setMargin( 0.05 );
+
+			return shape;
+
+		} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
+
+			const radius = parameters.radius !== undefined ? parameters.radius : 1;
+
+			const shape = new AmmoLib.btSphereShape( radius );
+			shape.setMargin( 0.05 );
+
+			return shape;
+
+		}
+
+		return null;
+
+	}
+
+	const meshes = [];
+	const meshMap = new WeakMap();
+
+	function addScene( scene ) {
+
+		scene.traverse( function ( child ) {
+
+			if ( child.isMesh ) {
+
+				const physics = child.userData.physics;
+
+				if ( physics ) {
+
+					addMesh( child, physics.mass );
+
+				}
+
+			}
+
+		} );
+
+	}
+
+	function addMesh( mesh, mass = 0 ) {
+
+		const shape = getShape( mesh.geometry );
+
+		if ( shape !== null ) {
+
+			if ( mesh.isInstancedMesh ) {
+
+				handleInstancedMesh( mesh, mass, shape );
+
+			} else if ( mesh.isMesh ) {
+
+				handleMesh( mesh, mass, shape );
+
+			}
+
+		}
+
+	}
+
+	function handleMesh( mesh, mass, shape ) {
+
+		const position = mesh.position;
+		const quaternion = mesh.quaternion;
+
+		const transform = new AmmoLib.btTransform();
+		transform.setIdentity();
+		transform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+		transform.setRotation( new AmmoLib.btQuaternion( quaternion.x, quaternion.y, quaternion.z, quaternion.w ) );
+
+		const motionState = new AmmoLib.btDefaultMotionState( transform );
+
+		const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
+		shape.calculateLocalInertia( mass, localInertia );
+
+		const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
+
+		const body = new AmmoLib.btRigidBody( rbInfo );
+		// body.setFriction( 4 );
+		world.addRigidBody( body );
+
+		if ( mass > 0 ) {
+
+			meshes.push( mesh );
+			meshMap.set( mesh, body );
+
+		}
+
+
+	}
+
+	function handleInstancedMesh( mesh, mass, shape ) {
+
+		const array = mesh.instanceMatrix.array;
+
+		const bodies = [];
+
+		for ( let i = 0; i < mesh.count; i ++ ) {
+
+			const index = i * 16;
+
+			const transform = new AmmoLib.btTransform();
+			transform.setFromOpenGLMatrix( array.slice( index, index + 16 ) );
+
+			const motionState = new AmmoLib.btDefaultMotionState( transform );
+
+			const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
+			shape.calculateLocalInertia( mass, localInertia );
+
+			const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
+
+			const body = new AmmoLib.btRigidBody( rbInfo );
+			world.addRigidBody( body );
+
+			bodies.push( body );
+
+		}
+
+		if ( mass > 0 ) {
+
+			meshes.push( mesh );
+
+			meshMap.set( mesh, bodies );
+
+		}
+
+	}
+
+	//
+
+	function setMeshPosition( mesh, position, index = 0 ) {
+
+		if ( mesh.isInstancedMesh ) {
+
+			const bodies = meshMap.get( mesh );
+			const body = bodies[ index ];
+
+			body.setAngularVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+			body.setLinearVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+
+			worldTransform.setIdentity();
+			worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+			body.setWorldTransform( worldTransform );
+
+		} else if ( mesh.isMesh ) {
+
+			const body = meshMap.get( mesh );
+
+			body.setAngularVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+			body.setLinearVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+
+			worldTransform.setIdentity();
+			worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+			body.setWorldTransform( worldTransform );
+
+		}
+
+	}
+
+	//
+
+	let lastTime = 0;
+
+	function step() {
+
+		const time = performance.now();
+
+		if ( lastTime > 0 ) {
+
+			const delta = ( time - lastTime ) / 1000;
+
+			world.stepSimulation( delta, 10 );
+
+			//
+
+			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 motionState = body.getMotionState();
+						motionState.getWorldTransform( worldTransform );
+
+						const position = worldTransform.getOrigin();
+						const quaternion = worldTransform.getRotation();
+
+						compose( position, quaternion, array, j * 16 );
+
+					}
+
+					mesh.instanceMatrix.needsUpdate = true;
+					mesh.computeBoundingSphere();
+
+				} else if ( mesh.isMesh ) {
+
+					const body = meshMap.get( mesh );
+
+					const motionState = body.getMotionState();
+					motionState.getWorldTransform( worldTransform );
+
+					const position = worldTransform.getOrigin();
+					const quaternion = worldTransform.getRotation();
+					mesh.position.set( position.x(), position.y(), position.z() );
+					mesh.quaternion.set( quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w() );
+
+				}
+
+			}
+
+		}
+
+		lastTime = time;
+
+	}
+
+	// animate
+
+	setInterval( step, 1000 / frameRate );
+
+	return {
+		addScene: addScene,
+		addMesh: addMesh,
+		setMeshPosition: setMeshPosition
+		// addCompoundMesh
+	};
+
+}
+
+function compose( position, quaternion, array, index ) {
+
+	const x = quaternion.x(), y = quaternion.y(), z = quaternion.z(), w = quaternion.w();
+	const x2 = x + x, y2 = y + y, z2 = z + z;
+	const xx = x * x2, xy = x * y2, xz = x * z2;
+	const yy = y * y2, yz = y * z2, zz = z * z2;
+	const wx = w * x2, wy = w * y2, wz = w * z2;
+
+	array[ index + 0 ] = ( 1 - ( yy + zz ) );
+	array[ index + 1 ] = ( xy + wz );
+	array[ index + 2 ] = ( xz - wy );
+	array[ index + 3 ] = 0;
+
+	array[ index + 4 ] = ( xy - wz );
+	array[ index + 5 ] = ( 1 - ( xx + zz ) );
+	array[ index + 6 ] = ( yz + wx );
+	array[ index + 7 ] = 0;
+
+	array[ index + 8 ] = ( xz + wy );
+	array[ index + 9 ] = ( yz - wx );
+	array[ index + 10 ] = ( 1 - ( xx + yy ) );
+	array[ index + 11 ] = 0;
+
+	array[ index + 12 ] = position.x();
+	array[ index + 13 ] = position.y();
+	array[ index + 14 ] = position.z();
+	array[ index + 15 ] = 1;
+
+}
+
+export { AmmoPhysics };