three-stdlib/physics/AmmoPhysics.cjs.map

stand-alone library of threejs examples

{"version":3,"file":"AmmoPhysics.cjs","sources":["../../src/physics/AmmoPhysics.js"],"sourcesContent":["async function AmmoPhysics() {\n  if ('Ammo' in window === false) {\n    console.error(\"AmmoPhysics: Couldn't find Ammo.js\")\n    return\n  }\n\n  const AmmoLib = await Ammo()\n\n  const frameRate = 60\n\n  const collisionConfiguration = new AmmoLib.btDefaultCollisionConfiguration()\n  const dispatcher = new AmmoLib.btCollisionDispatcher(collisionConfiguration)\n  const broadphase = new AmmoLib.btDbvtBroadphase()\n  const solver = new AmmoLib.btSequentialImpulseConstraintSolver()\n  const world = new AmmoLib.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration)\n  world.setGravity(new AmmoLib.btVector3(0, -9.8, 0))\n\n  const worldTransform = new AmmoLib.btTransform()\n\n  //\n\n  function getShape(geometry) {\n    const parameters = geometry.parameters\n\n    // TODO change type to is*\n\n    if (geometry.type === 'BoxGeometry') {\n      const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5\n      const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5\n      const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5\n\n      const shape = new AmmoLib.btBoxShape(new AmmoLib.btVector3(sx, sy, sz))\n      shape.setMargin(0.05)\n\n      return shape\n    } else if (geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry') {\n      const radius = parameters.radius !== undefined ? parameters.radius : 1\n\n      const shape = new AmmoLib.btSphereShape(radius)\n      shape.setMargin(0.05)\n\n      return shape\n    }\n\n    return null\n  }\n\n  const meshes = []\n  const meshMap = new WeakMap()\n\n  function addMesh(mesh, mass = 0) {\n    const shape = getShape(mesh.geometry)\n\n    if (shape !== null) {\n      if (mesh.isInstancedMesh) {\n        handleInstancedMesh(mesh, mass, shape)\n      } else if (mesh.isMesh) {\n        handleMesh(mesh, mass, shape)\n      }\n    }\n  }\n\n  function handleMesh(mesh, mass, shape) {\n    const position = mesh.position\n    const quaternion = mesh.quaternion\n\n    const transform = new AmmoLib.btTransform()\n    transform.setIdentity()\n    transform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z))\n    transform.setRotation(new AmmoLib.btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w))\n\n    const motionState = new AmmoLib.btDefaultMotionState(transform)\n\n    const localInertia = new AmmoLib.btVector3(0, 0, 0)\n    shape.calculateLocalInertia(mass, localInertia)\n\n    const rbInfo = new AmmoLib.btRigidBodyConstructionInfo(mass, motionState, shape, localInertia)\n\n    const body = new AmmoLib.btRigidBody(rbInfo)\n    // body.setFriction( 4 );\n    world.addRigidBody(body)\n\n    if (mass > 0) {\n      meshes.push(mesh)\n      meshMap.set(mesh, body)\n    }\n  }\n\n  function handleInstancedMesh(mesh, mass, shape) {\n    const array = mesh.instanceMatrix.array\n\n    const bodies = []\n\n    for (let i = 0; i < mesh.count; i++) {\n      const index = i * 16\n\n      const transform = new AmmoLib.btTransform()\n      transform.setFromOpenGLMatrix(array.slice(index, index + 16))\n\n      const motionState = new AmmoLib.btDefaultMotionState(transform)\n\n      const localInertia = new AmmoLib.btVector3(0, 0, 0)\n      shape.calculateLocalInertia(mass, localInertia)\n\n      const rbInfo = new AmmoLib.btRigidBodyConstructionInfo(mass, motionState, shape, localInertia)\n\n      const body = new AmmoLib.btRigidBody(rbInfo)\n      world.addRigidBody(body)\n\n      bodies.push(body)\n    }\n\n    if (mass > 0) {\n      mesh.instanceMatrix.setUsage(35048) // THREE.DynamicDrawUsage = 35048\n      meshes.push(mesh)\n\n      meshMap.set(mesh, bodies)\n    }\n  }\n\n  //\n\n  function setMeshPosition(mesh, position, index = 0) {\n    if (mesh.isInstancedMesh) {\n      const bodies = meshMap.get(mesh)\n      const body = bodies[index]\n\n      body.setAngularVelocity(new AmmoLib.btVector3(0, 0, 0))\n      body.setLinearVelocity(new AmmoLib.btVector3(0, 0, 0))\n\n      worldTransform.setIdentity()\n      worldTransform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z))\n      body.setWorldTransform(worldTransform)\n    } else if (mesh.isMesh) {\n      const body = meshMap.get(mesh)\n\n      body.setAngularVelocity(new AmmoLib.btVector3(0, 0, 0))\n      body.setLinearVelocity(new AmmoLib.btVector3(0, 0, 0))\n\n      worldTransform.setIdentity()\n      worldTransform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z))\n      body.setWorldTransform(worldTransform)\n    }\n  }\n\n  //\n\n  let lastTime = 0\n\n  function step() {\n    const time = performance.now()\n\n    if (lastTime > 0) {\n      const delta = (time - lastTime) / 1000\n\n      // console.time( 'world.step' );\n      world.stepSimulation(delta, 10)\n      // console.timeEnd( 'world.step' );\n    }\n\n    lastTime = time\n\n    //\n\n    for (let i = 0, l = meshes.length; i < l; i++) {\n      const mesh = meshes[i]\n\n      if (mesh.isInstancedMesh) {\n        const array = mesh.instanceMatrix.array\n        const bodies = meshMap.get(mesh)\n\n        for (let j = 0; j < bodies.length; j++) {\n          const body = bodies[j]\n\n          const motionState = body.getMotionState()\n          motionState.getWorldTransform(worldTransform)\n\n          const position = worldTransform.getOrigin()\n          const quaternion = worldTransform.getRotation()\n\n          compose(position, quaternion, array, j * 16)\n        }\n\n        mesh.instanceMatrix.needsUpdate = true\n      } else if (mesh.isMesh) {\n        const body = meshMap.get(mesh)\n\n        const motionState = body.getMotionState()\n        motionState.getWorldTransform(worldTransform)\n\n        const position = worldTransform.getOrigin()\n        const quaternion = worldTransform.getRotation()\n        mesh.position.set(position.x(), position.y(), position.z())\n        mesh.quaternion.set(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w())\n      }\n    }\n  }\n\n  // animate\n\n  setInterval(step, 1000 / frameRate)\n\n  return {\n    addMesh: addMesh,\n    setMeshPosition: setMeshPosition,\n    // addCompoundMesh\n  }\n}\n\nfunction compose(position, quaternion, array, index) {\n  const x = quaternion.x(),\n    y = quaternion.y(),\n    z = quaternion.z(),\n    w = quaternion.w()\n  const x2 = x + x,\n    y2 = y + y,\n    z2 = z + z\n  const xx = x * x2,\n    xy = x * y2,\n    xz = x * z2\n  const yy = y * y2,\n    yz = y * z2,\n    zz = z * z2\n  const wx = w * x2,\n    wy = w * y2,\n    wz = w * z2\n\n  array[index + 0] = 1 - (yy + zz)\n  array[index + 1] = xy + wz\n  array[index + 2] = xz - wy\n  array[index + 3] = 0\n\n  array[index + 4] = xy - wz\n  array[index + 5] = 1 - (xx + zz)\n  array[index + 6] = yz + wx\n  array[index + 7] = 0\n\n  array[index + 8] = xz + wy\n  array[index + 9] = yz - wx\n  array[index + 10] = 1 - (xx + yy)\n  array[index + 11] = 0\n\n  array[index + 12] = position.x()\n  array[index + 13] = position.y()\n  array[index + 14] = position.z()\n  array[index + 15] = 1\n}\n\nexport { AmmoPhysics 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