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 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; // console.time( 'world.step' ); world.stepSimulation( delta, 10 ); // console.timeEnd( 'world.step' ); } 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() ); } } } // animate setInterval( step, 1000 / frameRate ); return { 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 };