three-stdlib
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stand-alone library of threejs examples
832 lines (831 loc) • 26 kB
JavaScript
import { Vector3, Matrix4, Quaternion, Euler, Bone, Object3D, MeshBasicMaterial, Color, Mesh, BoxGeometry, SphereGeometry } from "three";
import { CapsuleGeometry } from "../_polyfill/CapsuleGeometry.js";
class MMDPhysics {
/**
* @param {THREE.SkinnedMesh} mesh
* @param {Array<Object>} rigidBodyParams
* @param {Array<Object>} (optional) constraintParams
* @param {Object} params - (optional)
* @param {Number} params.unitStep - Default is 1 / 65.
* @param {Integer} params.maxStepNum - Default is 3.
* @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )
*/
constructor(mesh, rigidBodyParams, constraintParams = [], params = {}) {
if (typeof Ammo === "undefined") {
throw new Error("THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js");
}
this.manager = new ResourceManager();
this.mesh = mesh;
this.unitStep = params.unitStep !== void 0 ? params.unitStep : 1 / 65;
this.maxStepNum = params.maxStepNum !== void 0 ? params.maxStepNum : 3;
this.gravity = new Vector3(0, -9.8 * 10, 0);
if (params.gravity !== void 0)
this.gravity.copy(params.gravity);
this.world = params.world !== void 0 ? params.world : null;
this.bodies = [];
this.constraints = [];
this._init(mesh, rigidBodyParams, constraintParams);
}
/**
* Advances Physics calculation and updates bones.
*
* @param {Number} delta - time in second
* @return {MMDPhysics}
*/
update(delta) {
const manager = this.manager;
const mesh = this.mesh;
let isNonDefaultScale = false;
const position = manager.allocThreeVector3();
const quaternion = manager.allocThreeQuaternion();
const scale = manager.allocThreeVector3();
mesh.matrixWorld.decompose(position, quaternion, scale);
if (scale.x !== 1 || scale.y !== 1 || scale.z !== 1) {
isNonDefaultScale = true;
}
let parent;
if (isNonDefaultScale) {
parent = mesh.parent;
if (parent !== null)
mesh.parent = null;
scale.copy(this.mesh.scale);
mesh.scale.set(1, 1, 1);
mesh.updateMatrixWorld(true);
}
this._updateRigidBodies();
this._stepSimulation(delta);
this._updateBones();
if (isNonDefaultScale) {
if (parent !== null)
mesh.parent = parent;
mesh.scale.copy(scale);
}
manager.freeThreeVector3(scale);
manager.freeThreeQuaternion(quaternion);
manager.freeThreeVector3(position);
return this;
}
/**
* Resets rigid bodies transorm to current bone's.
*
* @return {MMDPhysics}
*/
reset() {
for (let i = 0, il = this.bodies.length; i < il; i++) {
this.bodies[i].reset();
}
return this;
}
/**
* Warm ups Rigid bodies. Calculates cycles steps.
*
* @param {Integer} cycles
* @return {MMDPhysics}
*/
warmup(cycles) {
for (let i = 0; i < cycles; i++) {
this.update(1 / 60);
}
return this;
}
/**
* Sets gravity.
*
* @param {Vector3} gravity
* @return {MMDPhysicsHelper}
*/
setGravity(gravity) {
this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z));
this.gravity.copy(gravity);
return this;
}
/**
* Creates MMDPhysicsHelper
*
* @return {MMDPhysicsHelper}
*/
createHelper() {
return new MMDPhysicsHelper(this.mesh, this);
}
// private methods
_init(mesh, rigidBodyParams, constraintParams) {
const manager = this.manager;
const parent = mesh.parent;
if (parent !== null)
mesh.parent = null;
const currentPosition = manager.allocThreeVector3();
const currentQuaternion = manager.allocThreeQuaternion();
const currentScale = manager.allocThreeVector3();
currentPosition.copy(mesh.position);
currentQuaternion.copy(mesh.quaternion);
currentScale.copy(mesh.scale);
mesh.position.set(0, 0, 0);
mesh.quaternion.set(0, 0, 0, 1);
mesh.scale.set(1, 1, 1);
mesh.updateMatrixWorld(true);
if (this.world === null) {
this.world = this._createWorld();
this.setGravity(this.gravity);
}
this._initRigidBodies(rigidBodyParams);
this._initConstraints(constraintParams);
if (parent !== null)
mesh.parent = parent;
mesh.position.copy(currentPosition);
mesh.quaternion.copy(currentQuaternion);
mesh.scale.copy(currentScale);
mesh.updateMatrixWorld(true);
this.reset();
manager.freeThreeVector3(currentPosition);
manager.freeThreeQuaternion(currentQuaternion);
manager.freeThreeVector3(currentScale);
}
_createWorld() {
const config = new Ammo.btDefaultCollisionConfiguration();
const dispatcher = new Ammo.btCollisionDispatcher(config);
const cache = new Ammo.btDbvtBroadphase();
const solver = new Ammo.btSequentialImpulseConstraintSolver();
const world = new Ammo.btDiscreteDynamicsWorld(dispatcher, cache, solver, config);
return world;
}
_initRigidBodies(rigidBodies) {
for (let i = 0, il = rigidBodies.length; i < il; i++) {
this.bodies.push(new RigidBody(this.mesh, this.world, rigidBodies[i], this.manager));
}
}
_initConstraints(constraints) {
for (let i = 0, il = constraints.length; i < il; i++) {
const params = constraints[i];
const bodyA = this.bodies[params.rigidBodyIndex1];
const bodyB = this.bodies[params.rigidBodyIndex2];
this.constraints.push(new Constraint(this.mesh, this.world, bodyA, bodyB, params, this.manager));
}
}
_stepSimulation(delta) {
const unitStep = this.unitStep;
let stepTime = delta;
let maxStepNum = (delta / unitStep | 0) + 1;
if (stepTime < unitStep) {
stepTime = unitStep;
maxStepNum = 1;
}
if (maxStepNum > this.maxStepNum) {
maxStepNum = this.maxStepNum;
}
this.world.stepSimulation(stepTime, maxStepNum, unitStep);
}
_updateRigidBodies() {
for (let i = 0, il = this.bodies.length; i < il; i++) {
this.bodies[i].updateFromBone();
}
}
_updateBones() {
for (let i = 0, il = this.bodies.length; i < il; i++) {
this.bodies[i].updateBone();
}
}
}
class ResourceManager {
constructor() {
this.threeVector3s = [];
this.threeMatrix4s = [];
this.threeQuaternions = [];
this.threeEulers = [];
this.transforms = [];
this.quaternions = [];
this.vector3s = [];
}
allocThreeVector3() {
return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3();
}
freeThreeVector3(v) {
this.threeVector3s.push(v);
}
allocThreeMatrix4() {
return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4();
}
freeThreeMatrix4(m) {
this.threeMatrix4s.push(m);
}
allocThreeQuaternion() {
return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion();
}
freeThreeQuaternion(q) {
this.threeQuaternions.push(q);
}
allocThreeEuler() {
return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler();
}
freeThreeEuler(e) {
this.threeEulers.push(e);
}
allocTransform() {
return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform();
}
freeTransform(t) {
this.transforms.push(t);
}
allocQuaternion() {
return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion();
}
freeQuaternion(q) {
this.quaternions.push(q);
}
allocVector3() {
return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3();
}
freeVector3(v) {
this.vector3s.push(v);
}
setIdentity(t) {
t.setIdentity();
}
getBasis(t) {
var q = this.allocQuaternion();
t.getBasis().getRotation(q);
return q;
}
getBasisAsMatrix3(t) {
var q = this.getBasis(t);
var m = this.quaternionToMatrix3(q);
this.freeQuaternion(q);
return m;
}
getOrigin(t) {
return t.getOrigin();
}
setOrigin(t, v) {
t.getOrigin().setValue(v.x(), v.y(), v.z());
}
copyOrigin(t1, t2) {
var o = t2.getOrigin();
this.setOrigin(t1, o);
}
setBasis(t, q) {
t.setRotation(q);
}
setBasisFromMatrix3(t, m) {
var q = this.matrix3ToQuaternion(m);
this.setBasis(t, q);
this.freeQuaternion(q);
}
setOriginFromArray3(t, a) {
t.getOrigin().setValue(a[0], a[1], a[2]);
}
setOriginFromThreeVector3(t, v) {
t.getOrigin().setValue(v.x, v.y, v.z);
}
setBasisFromArray3(t, a) {
var thQ = this.allocThreeQuaternion();
var thE = this.allocThreeEuler();
thE.set(a[0], a[1], a[2]);
this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE));
this.freeThreeEuler(thE);
this.freeThreeQuaternion(thQ);
}
setBasisFromThreeQuaternion(t, a) {
var q = this.allocQuaternion();
q.setX(a.x);
q.setY(a.y);
q.setZ(a.z);
q.setW(a.w);
this.setBasis(t, q);
this.freeQuaternion(q);
}
multiplyTransforms(t1, t2) {
var t = this.allocTransform();
this.setIdentity(t);
var m1 = this.getBasisAsMatrix3(t1);
var m2 = this.getBasisAsMatrix3(t2);
var o1 = this.getOrigin(t1);
var o2 = this.getOrigin(t2);
var v1 = this.multiplyMatrix3ByVector3(m1, o2);
var v2 = this.addVector3(v1, o1);
this.setOrigin(t, v2);
var m3 = this.multiplyMatrices3(m1, m2);
this.setBasisFromMatrix3(t, m3);
this.freeVector3(v1);
this.freeVector3(v2);
return t;
}
inverseTransform(t) {
var t2 = this.allocTransform();
var m1 = this.getBasisAsMatrix3(t);
var o = this.getOrigin(t);
var m2 = this.transposeMatrix3(m1);
var v1 = this.negativeVector3(o);
var v2 = this.multiplyMatrix3ByVector3(m2, v1);
this.setOrigin(t2, v2);
this.setBasisFromMatrix3(t2, m2);
this.freeVector3(v1);
this.freeVector3(v2);
return t2;
}
multiplyMatrices3(m1, m2) {
var m3 = [];
var v10 = this.rowOfMatrix3(m1, 0);
var v11 = this.rowOfMatrix3(m1, 1);
var v12 = this.rowOfMatrix3(m1, 2);
var v20 = this.columnOfMatrix3(m2, 0);
var v21 = this.columnOfMatrix3(m2, 1);
var v22 = this.columnOfMatrix3(m2, 2);
m3[0] = this.dotVectors3(v10, v20);
m3[1] = this.dotVectors3(v10, v21);
m3[2] = this.dotVectors3(v10, v22);
m3[3] = this.dotVectors3(v11, v20);
m3[4] = this.dotVectors3(v11, v21);
m3[5] = this.dotVectors3(v11, v22);
m3[6] = this.dotVectors3(v12, v20);
m3[7] = this.dotVectors3(v12, v21);
m3[8] = this.dotVectors3(v12, v22);
this.freeVector3(v10);
this.freeVector3(v11);
this.freeVector3(v12);
this.freeVector3(v20);
this.freeVector3(v21);
this.freeVector3(v22);
return m3;
}
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) * 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 + 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 + 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 + 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;
}
}
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);
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();
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);
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);
thQ3.setFromRotationMatrix(this.bone.matrix);
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]);
}
}
if (constraint.setParam !== void 0) {
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);
manager.freeTransform(formA2);
manager.freeTransform(formB2);
manager.freeVector3(lll);
manager.freeVector3(lul);
manager.freeVector3(all);
manager.freeVector3(aul);
}
}
const _position = /* @__PURE__ */ new Vector3();
const _quaternion = /* @__PURE__ */ new Quaternion();
const _scale = /* @__PURE__ */ new Vector3();
const _matrixWorldInv = /* @__PURE__ */ new Matrix4();
class MMDPhysicsHelper extends Object3D {
/**
* 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(16746632),
wireframe: true,
depthTest: false,
depthWrite: false,
opacity: 0.25,
transparent: true
})
);
this.materials.push(
new MeshBasicMaterial({
color: new Color(8978312),
wireframe: true,
depthTest: false,
depthWrite: false,
opacity: 0.25,
transparent: true
})
);
this.materials.push(
new MeshBasicMaterial({
color: new Color(8947967),
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(param2) {
switch (param2.shapeType) {
case 0:
return new SphereGeometry(param2.width, 16, 8);
case 1:
return new BoxGeometry(param2.width * 2, param2.height * 2, param2.depth * 2, 8, 8, 8);
case 2:
return new CapsuleGeometry(param2.width, param2.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
};
//# sourceMappingURL=MMDPhysics.js.map