three-stdlib
Version:
stand-alone library of threejs examples
168 lines (167 loc) • 6.74 kB
JavaScript
"use strict";
Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
async function AmmoPhysics() {
if ("Ammo" in window === false) {
console.error("AmmoPhysics: Couldn't find Ammo.js");
return;
}
const AmmoLib = await Ammo();
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;
if (geometry.type === "BoxGeometry") {
const sx = parameters.width !== void 0 ? parameters.width / 2 : 0.5;
const sy = parameters.height !== void 0 ? parameters.height / 2 : 0.5;
const sz = parameters.depth !== void 0 ? 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 !== void 0 ? parameters.radius : 1;
const shape = new AmmoLib.btSphereShape(radius);
shape.setMargin(0.05);
return shape;
}
return null;
}
const meshes = [];
const meshMap = /* @__PURE__ */ new WeakMap();
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);
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) {
mesh.instanceMatrix.setUsage(35048);
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) / 1e3;
world.stepSimulation(delta, 10);
}
lastTime = time;
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;
} 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());
}
}
}
setInterval(step, 1e3 / frameRate);
return {
addMesh,
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;
}
exports.AmmoPhysics = AmmoPhysics;
//# sourceMappingURL=AmmoPhysics.cjs.map