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493 lines
13 KiB
493 lines
13 KiB
2 years ago
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<html lang="en">
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<head>
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<title>Amjs softbody rope demo</title>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
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<link type="text/css" rel="stylesheet" href="main.css">
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<style>
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body {
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color: #333;
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}
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</style>
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</head>
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<body>
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<div id="info">Ammo.js physics soft body rope demo<br>Press Q or A to move the arm.</div>
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<div id="container"></div>
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<script src="js/libs/ammo.wasm.js"></script>
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<!-- Import maps polyfill -->
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<!-- Remove this when import maps will be widely supported -->
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<script async src="https://unpkg.com/es-module-shims@1.3.6/dist/es-module-shims.js"></script>
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<script type="importmap">
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{
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"imports": {
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"three": "../build/three.module.js",
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"three/addons/": "./jsm/"
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}
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}
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</script>
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<script type="module">
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import * as THREE from 'three';
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import Stats from 'three/addons/libs/stats.module.js';
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import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
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// Graphics variables
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let container, stats;
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let camera, controls, scene, renderer;
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let textureLoader;
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const clock = new THREE.Clock();
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// Physics variables
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const gravityConstant = - 9.8;
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let collisionConfiguration;
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let dispatcher;
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let broadphase;
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let solver;
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let softBodySolver;
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let physicsWorld;
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const rigidBodies = [];
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const margin = 0.05;
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let hinge;
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let rope;
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let transformAux1;
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let armMovement = 0;
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Ammo().then( function ( AmmoLib ) {
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Ammo = AmmoLib;
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init();
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animate();
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} );
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function init() {
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initGraphics();
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initPhysics();
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createObjects();
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initInput();
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}
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function initGraphics() {
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container = document.getElementById( 'container' );
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camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 2000 );
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scene = new THREE.Scene();
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scene.background = new THREE.Color( 0xbfd1e5 );
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camera.position.set( - 7, 5, 8 );
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renderer = new THREE.WebGLRenderer();
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renderer.setPixelRatio( window.devicePixelRatio );
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renderer.setSize( window.innerWidth, window.innerHeight );
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renderer.shadowMap.enabled = true;
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container.appendChild( renderer.domElement );
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controls = new OrbitControls( camera, renderer.domElement );
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controls.target.set( 0, 2, 0 );
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controls.update();
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textureLoader = new THREE.TextureLoader();
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const ambientLight = new THREE.AmbientLight( 0x404040 );
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scene.add( ambientLight );
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const light = new THREE.DirectionalLight( 0xffffff, 1 );
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light.position.set( - 10, 10, 5 );
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light.castShadow = true;
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const d = 10;
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light.shadow.camera.left = - d;
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light.shadow.camera.right = d;
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light.shadow.camera.top = d;
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light.shadow.camera.bottom = - d;
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light.shadow.camera.near = 2;
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light.shadow.camera.far = 50;
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light.shadow.mapSize.x = 1024;
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light.shadow.mapSize.y = 1024;
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scene.add( light );
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stats = new Stats();
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stats.domElement.style.position = 'absolute';
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stats.domElement.style.top = '0px';
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container.appendChild( stats.domElement );
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//
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window.addEventListener( 'resize', onWindowResize );
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}
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function initPhysics() {
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// Physics configuration
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collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
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dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration );
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broadphase = new Ammo.btDbvtBroadphase();
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solver = new Ammo.btSequentialImpulseConstraintSolver();
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softBodySolver = new Ammo.btDefaultSoftBodySolver();
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physicsWorld = new Ammo.btSoftRigidDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration, softBodySolver );
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physicsWorld.setGravity( new Ammo.btVector3( 0, gravityConstant, 0 ) );
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physicsWorld.getWorldInfo().set_m_gravity( new Ammo.btVector3( 0, gravityConstant, 0 ) );
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transformAux1 = new Ammo.btTransform();
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}
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function createObjects() {
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const pos = new THREE.Vector3();
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const quat = new THREE.Quaternion();
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// Ground
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pos.set( 0, - 0.5, 0 );
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quat.set( 0, 0, 0, 1 );
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const ground = createParalellepiped( 40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
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ground.castShadow = true;
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ground.receiveShadow = true;
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textureLoader.load( 'textures/grid.png', function ( texture ) {
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texture.wrapS = THREE.RepeatWrapping;
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texture.wrapT = THREE.RepeatWrapping;
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texture.repeat.set( 40, 40 );
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ground.material.map = texture;
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ground.material.needsUpdate = true;
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} );
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// Ball
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const ballMass = 1.2;
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const ballRadius = 0.6;
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const ball = new THREE.Mesh( new THREE.SphereGeometry( ballRadius, 20, 20 ), new THREE.MeshPhongMaterial( { color: 0x202020 } ) );
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ball.castShadow = true;
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ball.receiveShadow = true;
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const ballShape = new Ammo.btSphereShape( ballRadius );
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ballShape.setMargin( margin );
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pos.set( - 3, 2, 0 );
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quat.set( 0, 0, 0, 1 );
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createRigidBody( ball, ballShape, ballMass, pos, quat );
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ball.userData.physicsBody.setFriction( 0.5 );
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// Wall
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const brickMass = 0.5;
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const brickLength = 1.2;
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const brickDepth = 0.6;
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const brickHeight = brickLength * 0.5;
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const numBricksLength = 6;
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const numBricksHeight = 8;
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const z0 = - numBricksLength * brickLength * 0.5;
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pos.set( 0, brickHeight * 0.5, z0 );
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quat.set( 0, 0, 0, 1 );
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for ( let j = 0; j < numBricksHeight; j ++ ) {
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const oddRow = ( j % 2 ) == 1;
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pos.z = z0;
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if ( oddRow ) {
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pos.z -= 0.25 * brickLength;
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}
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const nRow = oddRow ? numBricksLength + 1 : numBricksLength;
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for ( let i = 0; i < nRow; i ++ ) {
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let brickLengthCurrent = brickLength;
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let brickMassCurrent = brickMass;
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if ( oddRow && ( i == 0 || i == nRow - 1 ) ) {
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brickLengthCurrent *= 0.5;
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brickMassCurrent *= 0.5;
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}
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const brick = createParalellepiped( brickDepth, brickHeight, brickLengthCurrent, brickMassCurrent, pos, quat, createMaterial() );
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brick.castShadow = true;
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brick.receiveShadow = true;
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if ( oddRow && ( i == 0 || i == nRow - 2 ) ) {
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pos.z += 0.75 * brickLength;
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} else {
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pos.z += brickLength;
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}
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}
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pos.y += brickHeight;
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}
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// The rope
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// Rope graphic object
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const ropeNumSegments = 10;
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const ropeLength = 4;
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const ropeMass = 3;
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const ropePos = ball.position.clone();
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ropePos.y += ballRadius;
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const segmentLength = ropeLength / ropeNumSegments;
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const ropeGeometry = new THREE.BufferGeometry();
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const ropeMaterial = new THREE.LineBasicMaterial( { color: 0x000000 } );
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const ropePositions = [];
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const ropeIndices = [];
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for ( let i = 0; i < ropeNumSegments + 1; i ++ ) {
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ropePositions.push( ropePos.x, ropePos.y + i * segmentLength, ropePos.z );
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}
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for ( let i = 0; i < ropeNumSegments; i ++ ) {
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ropeIndices.push( i, i + 1 );
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}
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ropeGeometry.setIndex( new THREE.BufferAttribute( new Uint16Array( ropeIndices ), 1 ) );
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ropeGeometry.setAttribute( 'position', new THREE.BufferAttribute( new Float32Array( ropePositions ), 3 ) );
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ropeGeometry.computeBoundingSphere();
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rope = new THREE.LineSegments( ropeGeometry, ropeMaterial );
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rope.castShadow = true;
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rope.receiveShadow = true;
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scene.add( rope );
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// Rope physic object
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const softBodyHelpers = new Ammo.btSoftBodyHelpers();
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const ropeStart = new Ammo.btVector3( ropePos.x, ropePos.y, ropePos.z );
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const ropeEnd = new Ammo.btVector3( ropePos.x, ropePos.y + ropeLength, ropePos.z );
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const ropeSoftBody = softBodyHelpers.CreateRope( physicsWorld.getWorldInfo(), ropeStart, ropeEnd, ropeNumSegments - 1, 0 );
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const sbConfig = ropeSoftBody.get_m_cfg();
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sbConfig.set_viterations( 10 );
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sbConfig.set_piterations( 10 );
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ropeSoftBody.setTotalMass( ropeMass, false );
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Ammo.castObject( ropeSoftBody, Ammo.btCollisionObject ).getCollisionShape().setMargin( margin * 3 );
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physicsWorld.addSoftBody( ropeSoftBody, 1, - 1 );
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rope.userData.physicsBody = ropeSoftBody;
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// Disable deactivation
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ropeSoftBody.setActivationState( 4 );
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// The base
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const armMass = 2;
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const armLength = 3;
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const pylonHeight = ropePos.y + ropeLength;
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const baseMaterial = new THREE.MeshPhongMaterial( { color: 0x606060 } );
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pos.set( ropePos.x, 0.1, ropePos.z - armLength );
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quat.set( 0, 0, 0, 1 );
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const base = createParalellepiped( 1, 0.2, 1, 0, pos, quat, baseMaterial );
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base.castShadow = true;
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base.receiveShadow = true;
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pos.set( ropePos.x, 0.5 * pylonHeight, ropePos.z - armLength );
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const pylon = createParalellepiped( 0.4, pylonHeight, 0.4, 0, pos, quat, baseMaterial );
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pylon.castShadow = true;
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pylon.receiveShadow = true;
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pos.set( ropePos.x, pylonHeight + 0.2, ropePos.z - 0.5 * armLength );
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const arm = createParalellepiped( 0.4, 0.4, armLength + 0.4, armMass, pos, quat, baseMaterial );
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arm.castShadow = true;
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arm.receiveShadow = true;
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// Glue the rope extremes to the ball and the arm
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const influence = 1;
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ropeSoftBody.appendAnchor( 0, ball.userData.physicsBody, true, influence );
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ropeSoftBody.appendAnchor( ropeNumSegments, arm.userData.physicsBody, true, influence );
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// Hinge constraint to move the arm
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const pivotA = new Ammo.btVector3( 0, pylonHeight * 0.5, 0 );
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const pivotB = new Ammo.btVector3( 0, - 0.2, - armLength * 0.5 );
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const axis = new Ammo.btVector3( 0, 1, 0 );
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hinge = new Ammo.btHingeConstraint( pylon.userData.physicsBody, arm.userData.physicsBody, pivotA, pivotB, axis, axis, true );
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physicsWorld.addConstraint( hinge, true );
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}
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function createParalellepiped( sx, sy, sz, mass, pos, quat, material ) {
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const threeObject = new THREE.Mesh( new THREE.BoxGeometry( sx, sy, sz, 1, 1, 1 ), material );
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const shape = new Ammo.btBoxShape( new Ammo.btVector3( sx * 0.5, sy * 0.5, sz * 0.5 ) );
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shape.setMargin( margin );
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createRigidBody( threeObject, shape, mass, pos, quat );
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return threeObject;
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}
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function createRigidBody( threeObject, physicsShape, mass, pos, quat ) {
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threeObject.position.copy( pos );
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threeObject.quaternion.copy( quat );
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const transform = new Ammo.btTransform();
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transform.setIdentity();
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transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
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transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
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const motionState = new Ammo.btDefaultMotionState( transform );
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const localInertia = new Ammo.btVector3( 0, 0, 0 );
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physicsShape.calculateLocalInertia( mass, localInertia );
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const rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, physicsShape, localInertia );
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const body = new Ammo.btRigidBody( rbInfo );
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threeObject.userData.physicsBody = body;
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scene.add( threeObject );
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if ( mass > 0 ) {
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rigidBodies.push( threeObject );
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// Disable deactivation
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body.setActivationState( 4 );
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}
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physicsWorld.addRigidBody( body );
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|
|
}
|
||
|
|
|
||
|
|
function createRandomColor() {
|
||
|
|
|
||
|
|
return Math.floor( Math.random() * ( 1 << 24 ) );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function createMaterial() {
|
||
|
|
|
||
|
|
return new THREE.MeshPhongMaterial( { color: createRandomColor() } );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function initInput() {
|
||
|
|
|
||
|
|
window.addEventListener( 'keydown', function ( event ) {
|
||
|
|
|
||
|
|
switch ( event.keyCode ) {
|
||
|
|
|
||
|
|
// Q
|
||
|
|
case 81:
|
||
|
|
armMovement = 1;
|
||
|
|
break;
|
||
|
|
|
||
|
|
// A
|
||
|
|
case 65:
|
||
|
|
armMovement = - 1;
|
||
|
|
break;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
} );
|
||
|
|
|
||
|
|
window.addEventListener( 'keyup', function () {
|
||
|
|
|
||
|
|
armMovement = 0;
|
||
|
|
|
||
|
|
} );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function onWindowResize() {
|
||
|
|
|
||
|
|
camera.aspect = window.innerWidth / window.innerHeight;
|
||
|
|
camera.updateProjectionMatrix();
|
||
|
|
|
||
|
|
renderer.setSize( window.innerWidth, window.innerHeight );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function animate() {
|
||
|
|
|
||
|
|
requestAnimationFrame( animate );
|
||
|
|
|
||
|
|
render();
|
||
|
|
stats.update();
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function render() {
|
||
|
|
|
||
|
|
const deltaTime = clock.getDelta();
|
||
|
|
|
||
|
|
updatePhysics( deltaTime );
|
||
|
|
|
||
|
|
renderer.render( scene, camera );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function updatePhysics( deltaTime ) {
|
||
|
|
|
||
|
|
// Hinge control
|
||
|
|
hinge.enableAngularMotor( true, 1.5 * armMovement, 50 );
|
||
|
|
|
||
|
|
// Step world
|
||
|
|
physicsWorld.stepSimulation( deltaTime, 10 );
|
||
|
|
|
||
|
|
// Update rope
|
||
|
|
const softBody = rope.userData.physicsBody;
|
||
|
|
const ropePositions = rope.geometry.attributes.position.array;
|
||
|
|
const numVerts = ropePositions.length / 3;
|
||
|
|
const nodes = softBody.get_m_nodes();
|
||
|
|
let indexFloat = 0;
|
||
|
|
|
||
|
|
for ( let i = 0; i < numVerts; i ++ ) {
|
||
|
|
|
||
|
|
const node = nodes.at( i );
|
||
|
|
const nodePos = node.get_m_x();
|
||
|
|
ropePositions[ indexFloat ++ ] = nodePos.x();
|
||
|
|
ropePositions[ indexFloat ++ ] = nodePos.y();
|
||
|
|
ropePositions[ indexFloat ++ ] = nodePos.z();
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
rope.geometry.attributes.position.needsUpdate = true;
|
||
|
|
|
||
|
|
// Update rigid bodies
|
||
|
|
for ( let i = 0, il = rigidBodies.length; i < il; i ++ ) {
|
||
|
|
|
||
|
|
const objThree = rigidBodies[ i ];
|
||
|
|
const objPhys = objThree.userData.physicsBody;
|
||
|
|
const ms = objPhys.getMotionState();
|
||
|
|
if ( ms ) {
|
||
|
|
|
||
|
|
ms.getWorldTransform( transformAux1 );
|
||
|
|
const p = transformAux1.getOrigin();
|
||
|
|
const q = transformAux1.getRotation();
|
||
|
|
objThree.position.set( p.x(), p.y(), p.z() );
|
||
|
|
objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
</script>
|
||
|
|
|
||
|
|
</body>
|
||
|
|
</html>
|