three
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JavaScript 3D library
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JavaScript
/**
* @author takahiro / https://github.com/takahirox
*
* Dependencies
* - Ammo.js https://github.com/kripken/ammo.js
*
*
* MMD specific Physics class.
*
* See THREE.MMDLoader for the passed parameter list of RigidBody/Constraint.
*
*
* TODO
* - use Physijs http://chandlerprall.github.io/Physijs/
* and improve the performance by making use of Web worker.
* - if possible, make this class being non-MMD specific.
*/
THREE.MMDPhysics = function ( mesh, params ) {
this.mesh = mesh;
this.helper = new THREE.MMDPhysics.PhysicsHelper();
/*
* Note: Default 1 / 65 unit step is a workaround that
* some bones go wrong at near 60fps if it's 1 / 60.
* Be careful that small unitStep could cause heavy
* physics calculation.
*/
this.unitStep = ( params && params.unitStep ) ? params.unitStep : 1 / 65;
this.maxStepNum = ( params && params.maxStepNum ) ? params.maxStepNum : 3;
this.world = null;
this.bodies = [];
this.constraints = [];
this.init();
};
THREE.MMDPhysics.prototype = {
constructor: THREE.MMDPhysics,
init: function () {
this.initWorld();
this.initRigidBodies();
this.initConstraints();
this.reset();
},
initWorld: function () {
var config = new Ammo.btDefaultCollisionConfiguration();
var dispatcher = new Ammo.btCollisionDispatcher( config );
var cache = new Ammo.btDbvtBroadphase();
var solver = new Ammo.btSequentialImpulseConstraintSolver();
var world = new Ammo.btDiscreteDynamicsWorld( dispatcher, cache, solver, config );
world.setGravity( new Ammo.btVector3( 0, -10 * 10, 0 ) );
this.world = world;
},
initRigidBodies: function () {
var bodies = this.mesh.geometry.rigidBodies;
for ( var i = 0; i < bodies.length; i++ ) {
var b = new THREE.MMDPhysics.RigidBody( this.mesh, this.world, bodies[ i ], this.helper );
this.bodies.push( b );
}
},
initConstraints: function () {
var constraints = this.mesh.geometry.constraints;
for ( var i = 0; i < constraints.length; i++ ) {
var params = constraints[ i ];
var bodyA = this.bodies[ params.rigidBodyIndex1 ];
var bodyB = this.bodies[ params.rigidBodyIndex2 ];
var c = new THREE.MMDPhysics.Constraint( this.mesh, this.world, bodyA, bodyB, params, this.helper );
this.constraints.push( c );
}
},
update: function ( delta ) {
var unitStep = this.unitStep;
var stepTime = delta;
var maxStepNum = ( ( delta / unitStep ) | 0 ) + 1;
if ( maxStepNum > this.maxStepNum ) {
maxStepNum = this.maxStepNum;
}
this.updateRigidBodies();
this.world.stepSimulation( stepTime, maxStepNum, unitStep );
this.updateBones();
},
updateRigidBodies: function () {
for ( var i = 0; i < this.bodies.length; i++ ) {
this.bodies[ i ].updateFromBone();
}
},
updateBones: function () {
for ( var i = 0; i < this.bodies.length; i++ ) {
this.bodies[ i ].updateBone();
}
},
reset: function () {
for ( var i = 0; i < this.bodies.length; i++ ) {
this.bodies[ i ].reset();
}
},
warmup: function ( cycles ) {
for ( var i = 0; i < cycles; i++ ) {
this.update( 1 );
}
}
};
/**
* This helper class responsibilies are
*
* 1. manage Ammo.js and Three.js object resources and
* improve the performance and the memory consumption by
* reusing objects.
*
* 2. provide simple Ammo object operations.
*/
THREE.MMDPhysics.PhysicsHelper = function () {
// for Three.js
this.threeVector3s = [];
this.threeMatrix4s = [];
this.threeQuaternions = [];
// for Ammo.js
this.transforms = [];
this.quaternions = [];
this.vector3s = [];
};
THREE.MMDPhysics.PhysicsHelper.prototype = {
allocThreeVector3: function () {
return ( this.threeVector3s.length > 0 ) ? this.threeVector3s.pop() : new THREE.Vector3();
},
freeThreeVector3: function ( v ) {
this.threeVector3s.push( v );
},
allocThreeMatrix4: function () {
return ( this.threeMatrix4s.length > 0 ) ? this.threeMatrix4s.pop() : new THREE.Matrix4();
},
freeThreeMatrix4: function ( m ) {
this.threeMatrix4s.push( m );
},
allocThreeQuaternion: function () {
return ( this.threeQuaternions.length > 0 ) ? this.threeQuaternions.pop() : new THREE.Quaternion();
},
freeThreeQuaternion: function ( q ) {
this.threeQuaternions.push( q );
},
allocTransform: function () {
return ( this.transforms.length > 0 ) ? this.transforms.pop() : new Ammo.btTransform();
},
freeTransform: function ( t ) {
this.transforms.push( t );
},
allocQuaternion: function () {
return ( this.quaternions.length > 0 ) ? this.quaternions.pop() : new Ammo.btQuaternion();
},
freeQuaternion: function ( q ) {
this.quaternions.push( q );
},
allocVector3: function () {
return ( this.vector3s.length > 0 ) ? this.vector3s.pop() : new Ammo.btVector3();
},
freeVector3: function ( v ) {
this.vector3s.push( v );
},
setIdentity: function ( t ) {
t.setIdentity();
},
getBasis: function ( t ) {
var q = this.allocQuaternion();
t.getBasis().getRotation( q );
return q;
},
getBasisAsMatrix3: function ( t ) {
var q = this.getBasis( t );
var m = this.quaternionToMatrix3( q );
this.freeQuaternion( q );
return m;
},
getOrigin: function( t ) {
return t.getOrigin();
},
setOrigin: function( t, v ) {
t.getOrigin().setValue( v.x(), v.y(), v.z() );
},
copyOrigin: function( t1, t2 ) {
var o = t2.getOrigin();
this.setOrigin( t1, o );
},
setBasis: function( t, q ) {
t.setRotation( q );
},
setBasisFromMatrix3: function( t, m ) {
var q = this.matrix3ToQuaternion( m );
this.setBasis( t, q );
this.freeQuaternion( q );
},
setOriginFromArray3: function ( t, a ) {
t.getOrigin().setValue( a[ 0 ], a[ 1 ], a[ 2 ] );
},
setBasisFromArray3: function ( t, a ) {
t.getBasis().setEulerZYX( a[ 0 ], a[ 1 ], a[ 2 ] );
},
setBasisFromArray4: function ( t, a ) {
var q = this.array4ToQuaternion( a );
this.setBasis( t, q );
this.freeQuaternion( q );
},
array4ToQuaternion: function( a ) {
var q = this.allocQuaternion();
q.setX( a[ 0 ] );
q.setY( a[ 1 ] );
q.setZ( a[ 2 ] );
q.setW( a[ 3 ] );
return q;
},
multiplyTransforms: function ( 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: function ( 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: function ( 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: function( v1, v2 ) {
var v = this.allocVector3();
v.setValue( v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z() );
return v;
},
dotVectors3: function( v1, v2 ) {
return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
},
rowOfMatrix3: function( m, i ) {
var v = this.allocVector3();
v.setValue( m[ i * 3 + 0 ], m[ i * 3 + 1 ], m[ i * 3 + 2 ] );
return v;
},
columnOfMatrix3: function( m, i ) {
var v = this.allocVector3();
v.setValue( m[ i + 0 ], m[ i + 3 ], m[ i + 6 ] );
return v;
},
negativeVector3: function( v ) {
var v2 = this.allocVector3();
v2.setValue( -v.x(), -v.y(), -v.z() );
return v2;
},
multiplyMatrix3ByVector3: function ( 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: function( 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: function ( 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: function( 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;
},
};
THREE.MMDPhysics.RigidBody = function ( mesh, world, params, helper ) {
this.mesh = mesh;
this.world = world;
this.params = params;
this.helper = helper;
this.body = null;
this.bone = null;
this.boneOffsetForm = null;
this.boneOffsetFormInverse = null;
this.init();
};
THREE.MMDPhysics.RigidBody.prototype = {
constructor: THREE.MMDPhysics.RigidBody,
init: function () {
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 'unknown shape type ' + p.shapeType;
}
};
var helper = this.helper;
var params = this.params;
var bones = this.mesh.skeleton.bones;
var bone = ( params.boneIndex === -1 ) ? new THREE.Bone() : bones[ params.boneIndex ];
var shape = generateShape( params );
var weight = ( params.type === 0 ) ? 0 : params.weight;
var localInertia = helper.allocVector3();
localInertia.setValue( 0, 0, 0 );
if( weight !== 0 ) {
shape.calculateLocalInertia( weight, localInertia );
}
var boneOffsetForm = helper.allocTransform();
helper.setIdentity( boneOffsetForm );
helper.setOriginFromArray3( boneOffsetForm, params.position );
helper.setBasisFromArray3( boneOffsetForm, params.rotation );
var boneForm = helper.allocTransform();
helper.setIdentity( boneForm );
helper.setOriginFromArray3( boneForm, bone.getWorldPosition().toArray() );
var form = helper.multiplyTransforms( boneForm, boneOffsetForm );
var state = new Ammo.btDefaultMotionState( form );
var info = new Ammo.btRigidBodyConstructionInfo( weight, state, shape, localInertia );
info.set_m_friction( params.friction );
info.set_m_restitution( params.restriction );
var 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 = helper.inverseTransform( boneOffsetForm );
helper.freeVector3( localInertia );
helper.freeTransform( form );
helper.freeTransform( boneForm );
},
reset: function () {
this.setTransformFromBone();
},
updateFromBone: function () {
if ( this.params.boneIndex === -1 ) {
return;
}
if ( this.params.type === 0 ) {
this.setTransformFromBone();
}
if ( this.params.type === 2 ) {
this.setPositionFromBone();
}
},
updateBone: function () {
if ( this.params.type === 0 || this.params.boneIndex === -1 ) {
return;
}
this.updateBoneRotation();
if ( this.params.type === 1 ) {
this.updateBonePosition();
}
this.bone.updateMatrixWorld( true );
},
getBoneTransform: function () {
var helper = this.helper;
var p = this.bone.getWorldPosition();
var q = this.bone.getWorldQuaternion();
var tr = helper.allocTransform();
helper.setOriginFromArray3( tr, p.toArray() );
helper.setBasisFromArray4( tr, q.toArray() );
var form = helper.multiplyTransforms( tr, this.boneOffsetForm );
helper.freeTransform( tr );
return form;
},
getWorldTransformForBone: function () {
var helper = this.helper;
var tr = helper.allocTransform();
this.body.getMotionState().getWorldTransform( tr );
var tr2 = helper.multiplyTransforms( tr, this.boneOffsetFormInverse );
helper.freeTransform( tr );
return tr2;
},
setTransformFromBone: function () {
var helper = this.helper;
var form = this.getBoneTransform();
// TODO: check the most appropriate way to set
//this.body.setWorldTransform( form );
this.body.setCenterOfMassTransform( form );
this.body.getMotionState().setWorldTransform( form );
helper.freeTransform( form );
},
setPositionFromBone: function () {
var helper = this.helper;
var form = this.getBoneTransform();
var tr = helper.allocTransform();
this.body.getMotionState().getWorldTransform( tr );
helper.copyOrigin( tr, form );
// TODO: check the most appropriate way to set
//this.body.setWorldTransform( tr );
this.body.setCenterOfMassTransform( tr );
this.body.getMotionState().setWorldTransform( tr );
helper.freeTransform( tr );
helper.freeTransform( form );
},
updateBoneRotation: function () {
this.bone.updateMatrixWorld( true );
var helper = this.helper;
var tr = this.getWorldTransformForBone();
var q = helper.getBasis( tr );
var thQ = helper.allocThreeQuaternion();
var thQ2 = helper.allocThreeQuaternion();
var thQ3 = helper.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 );
this.bone.quaternion.copy( thQ2.multiply( thQ3 ) );
helper.freeThreeQuaternion( thQ );
helper.freeThreeQuaternion( thQ2 );
helper.freeThreeQuaternion( thQ3 );
helper.freeQuaternion( q );
helper.freeTransform( tr );
},
updateBonePosition: function () {
var helper = this.helper;
var tr = this.getWorldTransformForBone();
var thV = helper.allocThreeVector3();
var o = helper.getOrigin( tr );
thV.set( o.x(), o.y(), o.z() );
var v = this.bone.worldToLocal( thV );
this.bone.position.add( v );
helper.freeThreeVector3( thV );
helper.freeTransform( tr );
}
};
THREE.MMDPhysics.Constraint = function ( mesh, world, bodyA, bodyB, params, helper ) {
this.mesh = mesh;
this.world = world;
this.bodyA = bodyA;
this.bodyB = bodyB;
this.params = params;
this.helper = helper;
this.constraint = null;
this.init();
};
THREE.MMDPhysics.Constraint.prototype = {
constructor: THREE.MMDPhysics.Constraint,
init: function () {
var helper = this.helper;
var params = this.params;
var bodyA = this.bodyA;
var bodyB = this.bodyB;
var form = helper.allocTransform();
helper.setIdentity( form );
helper.setOriginFromArray3( form, params.position );
helper.setBasisFromArray3( form, params.rotation );
var formA = helper.allocTransform();
var formB = helper.allocTransform();
bodyA.body.getMotionState().getWorldTransform( formA );
bodyB.body.getMotionState().getWorldTransform( formB );
var formInverseA = helper.inverseTransform( formA );
var formInverseB = helper.inverseTransform( formB );
var formA2 = helper.multiplyTransforms( formInverseA, form );
var formB2 = helper.multiplyTransforms( formInverseB, form );
var constraint = new Ammo.btGeneric6DofSpringConstraint( bodyA.body, bodyB.body, formA2, formB2, true );
var lll = helper.allocVector3();
var lul = helper.allocVector3();
var all = helper.allocVector3();
var aul = helper.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 ( var i = 0; i < 3; i++ ) {
if( params.springPosition[ i ] !== 0 ) {
constraint.enableSpring( i, true );
constraint.setStiffness( i, params.springPosition[ i ] );
}
}
for ( var i = 0; i < 3; i++ ) {
if( params.springRotation[ i ] !== 0 ) {
constraint.enableSpring( i + 3, true );
constraint.setStiffness( i + 3, params.springRotation[ i ] );
}
}
this.world.addConstraint( constraint, true );
this.constraint = constraint;
helper.freeTransform( form );
helper.freeTransform( formA );
helper.freeTransform( formB );
helper.freeTransform( formInverseA );
helper.freeTransform( formInverseB );
helper.freeTransform( formA2 );
helper.freeTransform( formB2 );
helper.freeVector3( lll );
helper.freeVector3( lul );
helper.freeVector3( all );
helper.freeVector3( aul );
}
};