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605 lines
16 KiB
605 lines
16 KiB
2 years ago
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<html lang="en">
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<head>
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<title>Convex object breaking example</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">Physics threejs demo with convex objects breaking in real time<br />Press mouse to throw balls and move the camera.</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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import { ConvexObjectBreaker } from 'three/addons/misc/ConvexObjectBreaker.js';
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import { ConvexGeometry } from 'three/addons/geometries/ConvexGeometry.js';
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// - Global variables -
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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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const mouseCoords = new THREE.Vector2();
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const raycaster = new THREE.Raycaster();
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const ballMaterial = new THREE.MeshPhongMaterial( { color: 0x202020 } );
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// Physics variables
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const gravityConstant = 7.8;
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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 physicsWorld;
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const margin = 0.05;
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const convexBreaker = new ConvexObjectBreaker();
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// Rigid bodies include all movable objects
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const rigidBodies = [];
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const pos = new THREE.Vector3();
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const quat = new THREE.Quaternion();
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let transformAux1;
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let tempBtVec3_1;
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const objectsToRemove = [];
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for ( let i = 0; i < 500; i ++ ) {
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objectsToRemove[ i ] = null;
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}
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let numObjectsToRemove = 0;
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const impactPoint = new THREE.Vector3();
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const impactNormal = new THREE.Vector3();
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// - Main code -
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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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// - Functions -
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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( - 14, 8, 16 );
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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( 0x707070 );
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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, 18, 5 );
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light.castShadow = true;
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const d = 14;
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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.btDefaultCollisionConfiguration();
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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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physicsWorld = new Ammo.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
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physicsWorld.setGravity( new Ammo.btVector3( 0, - gravityConstant, 0 ) );
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transformAux1 = new Ammo.btTransform();
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tempBtVec3_1 = new Ammo.btVector3( 0, 0, 0 );
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}
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function createObject( mass, halfExtents, pos, quat, material ) {
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const object = new THREE.Mesh( new THREE.BoxGeometry( halfExtents.x * 2, halfExtents.y * 2, halfExtents.z * 2 ), material );
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object.position.copy( pos );
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object.quaternion.copy( quat );
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convexBreaker.prepareBreakableObject( object, mass, new THREE.Vector3(), new THREE.Vector3(), true );
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createDebrisFromBreakableObject( object );
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}
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function createObjects() {
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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 = createParalellepipedWithPhysics( 40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
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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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// Tower 1
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const towerMass = 1000;
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const towerHalfExtents = new THREE.Vector3( 2, 5, 2 );
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pos.set( - 8, 5, 0 );
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quat.set( 0, 0, 0, 1 );
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createObject( towerMass, towerHalfExtents, pos, quat, createMaterial( 0xB03014 ) );
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// Tower 2
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pos.set( 8, 5, 0 );
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quat.set( 0, 0, 0, 1 );
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createObject( towerMass, towerHalfExtents, pos, quat, createMaterial( 0xB03214 ) );
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//Bridge
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const bridgeMass = 100;
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const bridgeHalfExtents = new THREE.Vector3( 7, 0.2, 1.5 );
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pos.set( 0, 10.2, 0 );
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quat.set( 0, 0, 0, 1 );
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createObject( bridgeMass, bridgeHalfExtents, pos, quat, createMaterial( 0xB3B865 ) );
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// Stones
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const stoneMass = 120;
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const stoneHalfExtents = new THREE.Vector3( 1, 2, 0.15 );
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const numStones = 8;
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quat.set( 0, 0, 0, 1 );
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for ( let i = 0; i < numStones; i ++ ) {
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pos.set( 0, 2, 15 * ( 0.5 - i / ( numStones + 1 ) ) );
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createObject( stoneMass, stoneHalfExtents, pos, quat, createMaterial( 0xB0B0B0 ) );
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}
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// Mountain
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const mountainMass = 860;
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const mountainHalfExtents = new THREE.Vector3( 4, 5, 4 );
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pos.set( 5, mountainHalfExtents.y * 0.5, - 7 );
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quat.set( 0, 0, 0, 1 );
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const mountainPoints = [];
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mountainPoints.push( new THREE.Vector3( mountainHalfExtents.x, - mountainHalfExtents.y, mountainHalfExtents.z ) );
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mountainPoints.push( new THREE.Vector3( - mountainHalfExtents.x, - mountainHalfExtents.y, mountainHalfExtents.z ) );
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mountainPoints.push( new THREE.Vector3( mountainHalfExtents.x, - mountainHalfExtents.y, - mountainHalfExtents.z ) );
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mountainPoints.push( new THREE.Vector3( - mountainHalfExtents.x, - mountainHalfExtents.y, - mountainHalfExtents.z ) );
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mountainPoints.push( new THREE.Vector3( 0, mountainHalfExtents.y, 0 ) );
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const mountain = new THREE.Mesh( new ConvexGeometry( mountainPoints ), createMaterial( 0xB03814 ) );
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mountain.position.copy( pos );
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mountain.quaternion.copy( quat );
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convexBreaker.prepareBreakableObject( mountain, mountainMass, new THREE.Vector3(), new THREE.Vector3(), true );
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createDebrisFromBreakableObject( mountain );
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}
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function createParalellepipedWithPhysics( sx, sy, sz, mass, pos, quat, material ) {
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const object = 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( object, shape, mass, pos, quat );
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return object;
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}
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function createDebrisFromBreakableObject( object ) {
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object.castShadow = true;
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object.receiveShadow = true;
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const shape = createConvexHullPhysicsShape( object.geometry.attributes.position.array );
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shape.setMargin( margin );
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const body = createRigidBody( object, shape, object.userData.mass, null, null, object.userData.velocity, object.userData.angularVelocity );
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// Set pointer back to the three object only in the debris objects
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const btVecUserData = new Ammo.btVector3( 0, 0, 0 );
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btVecUserData.threeObject = object;
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body.setUserPointer( btVecUserData );
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}
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function removeDebris( object ) {
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scene.remove( object );
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physicsWorld.removeRigidBody( object.userData.physicsBody );
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}
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function createConvexHullPhysicsShape( coords ) {
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const shape = new Ammo.btConvexHullShape();
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for ( let i = 0, il = coords.length; i < il; i += 3 ) {
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tempBtVec3_1.setValue( coords[ i ], coords[ i + 1 ], coords[ i + 2 ] );
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const lastOne = ( i >= ( il - 3 ) );
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shape.addPoint( tempBtVec3_1, lastOne );
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}
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return shape;
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}
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function createRigidBody( object, physicsShape, mass, pos, quat, vel, angVel ) {
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if ( pos ) {
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object.position.copy( pos );
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} else {
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pos = object.position;
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}
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if ( quat ) {
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object.quaternion.copy( quat );
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} else {
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quat = object.quaternion;
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}
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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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body.setFriction( 0.5 );
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if ( vel ) {
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body.setLinearVelocity( new Ammo.btVector3( vel.x, vel.y, vel.z ) );
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}
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if ( angVel ) {
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body.setAngularVelocity( new Ammo.btVector3( angVel.x, angVel.y, angVel.z ) );
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}
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object.userData.physicsBody = body;
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object.userData.collided = false;
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scene.add( object );
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if ( mass > 0 ) {
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rigidBodies.push( object );
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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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return body;
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}
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function createRandomColor() {
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return Math.floor( Math.random() * ( 1 << 24 ) );
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}
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|
||
|
|
function createMaterial( color ) {
|
||
|
|
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||
|
|
color = color || createRandomColor();
|
||
|
|
return new THREE.MeshPhongMaterial( { color: color } );
|
||
|
|
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||
|
|
}
|
||
|
|
|
||
|
|
function initInput() {
|
||
|
|
|
||
|
|
window.addEventListener( 'pointerdown', function ( event ) {
|
||
|
|
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||
|
|
mouseCoords.set(
|
||
|
|
( event.clientX / window.innerWidth ) * 2 - 1,
|
||
|
|
- ( event.clientY / window.innerHeight ) * 2 + 1
|
||
|
|
);
|
||
|
|
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||
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|
raycaster.setFromCamera( mouseCoords, camera );
|
||
|
|
|
||
|
|
// Creates a ball and throws it
|
||
|
|
const ballMass = 35;
|
||
|
|
const ballRadius = 0.4;
|
||
|
|
|
||
|
|
const ball = new THREE.Mesh( new THREE.SphereGeometry( ballRadius, 14, 10 ), ballMaterial );
|
||
|
|
ball.castShadow = true;
|
||
|
|
ball.receiveShadow = true;
|
||
|
|
const ballShape = new Ammo.btSphereShape( ballRadius );
|
||
|
|
ballShape.setMargin( margin );
|
||
|
|
pos.copy( raycaster.ray.direction );
|
||
|
|
pos.add( raycaster.ray.origin );
|
||
|
|
quat.set( 0, 0, 0, 1 );
|
||
|
|
const ballBody = createRigidBody( ball, ballShape, ballMass, pos, quat );
|
||
|
|
|
||
|
|
pos.copy( raycaster.ray.direction );
|
||
|
|
pos.multiplyScalar( 24 );
|
||
|
|
ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
|
||
|
|
|
||
|
|
} );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
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 ) {
|
||
|
|
|
||
|
|
// Step world
|
||
|
|
physicsWorld.stepSimulation( deltaTime, 10 );
|
||
|
|
|
||
|
|
// 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() );
|
||
|
|
|
||
|
|
objThree.userData.collided = false;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
for ( let i = 0, il = dispatcher.getNumManifolds(); i < il; i ++ ) {
|
||
|
|
|
||
|
|
const contactManifold = dispatcher.getManifoldByIndexInternal( i );
|
||
|
|
const rb0 = Ammo.castObject( contactManifold.getBody0(), Ammo.btRigidBody );
|
||
|
|
const rb1 = Ammo.castObject( contactManifold.getBody1(), Ammo.btRigidBody );
|
||
|
|
|
||
|
|
const threeObject0 = Ammo.castObject( rb0.getUserPointer(), Ammo.btVector3 ).threeObject;
|
||
|
|
const threeObject1 = Ammo.castObject( rb1.getUserPointer(), Ammo.btVector3 ).threeObject;
|
||
|
|
|
||
|
|
if ( ! threeObject0 && ! threeObject1 ) {
|
||
|
|
|
||
|
|
continue;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
const userData0 = threeObject0 ? threeObject0.userData : null;
|
||
|
|
const userData1 = threeObject1 ? threeObject1.userData : null;
|
||
|
|
|
||
|
|
const breakable0 = userData0 ? userData0.breakable : false;
|
||
|
|
const breakable1 = userData1 ? userData1.breakable : false;
|
||
|
|
|
||
|
|
const collided0 = userData0 ? userData0.collided : false;
|
||
|
|
const collided1 = userData1 ? userData1.collided : false;
|
||
|
|
|
||
|
|
if ( ( ! breakable0 && ! breakable1 ) || ( collided0 && collided1 ) ) {
|
||
|
|
|
||
|
|
continue;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
let contact = false;
|
||
|
|
let maxImpulse = 0;
|
||
|
|
for ( let j = 0, jl = contactManifold.getNumContacts(); j < jl; j ++ ) {
|
||
|
|
|
||
|
|
const contactPoint = contactManifold.getContactPoint( j );
|
||
|
|
|
||
|
|
if ( contactPoint.getDistance() < 0 ) {
|
||
|
|
|
||
|
|
contact = true;
|
||
|
|
const impulse = contactPoint.getAppliedImpulse();
|
||
|
|
|
||
|
|
if ( impulse > maxImpulse ) {
|
||
|
|
|
||
|
|
maxImpulse = impulse;
|
||
|
|
const pos = contactPoint.get_m_positionWorldOnB();
|
||
|
|
const normal = contactPoint.get_m_normalWorldOnB();
|
||
|
|
impactPoint.set( pos.x(), pos.y(), pos.z() );
|
||
|
|
impactNormal.set( normal.x(), normal.y(), normal.z() );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
break;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// If no point has contact, abort
|
||
|
|
if ( ! contact ) continue;
|
||
|
|
|
||
|
|
// Subdivision
|
||
|
|
|
||
|
|
const fractureImpulse = 250;
|
||
|
|
|
||
|
|
if ( breakable0 && ! collided0 && maxImpulse > fractureImpulse ) {
|
||
|
|
|
||
|
|
const debris = convexBreaker.subdivideByImpact( threeObject0, impactPoint, impactNormal, 1, 2, 1.5 );
|
||
|
|
|
||
|
|
const numObjects = debris.length;
|
||
|
|
for ( let j = 0; j < numObjects; j ++ ) {
|
||
|
|
|
||
|
|
const vel = rb0.getLinearVelocity();
|
||
|
|
const angVel = rb0.getAngularVelocity();
|
||
|
|
const fragment = debris[ j ];
|
||
|
|
fragment.userData.velocity.set( vel.x(), vel.y(), vel.z() );
|
||
|
|
fragment.userData.angularVelocity.set( angVel.x(), angVel.y(), angVel.z() );
|
||
|
|
|
||
|
|
createDebrisFromBreakableObject( fragment );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
objectsToRemove[ numObjectsToRemove ++ ] = threeObject0;
|
||
|
|
userData0.collided = true;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( breakable1 && ! collided1 && maxImpulse > fractureImpulse ) {
|
||
|
|
|
||
|
|
const debris = convexBreaker.subdivideByImpact( threeObject1, impactPoint, impactNormal, 1, 2, 1.5 );
|
||
|
|
|
||
|
|
const numObjects = debris.length;
|
||
|
|
for ( let j = 0; j < numObjects; j ++ ) {
|
||
|
|
|
||
|
|
const vel = rb1.getLinearVelocity();
|
||
|
|
const angVel = rb1.getAngularVelocity();
|
||
|
|
const fragment = debris[ j ];
|
||
|
|
fragment.userData.velocity.set( vel.x(), vel.y(), vel.z() );
|
||
|
|
fragment.userData.angularVelocity.set( angVel.x(), angVel.y(), angVel.z() );
|
||
|
|
|
||
|
|
createDebrisFromBreakableObject( fragment );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
objectsToRemove[ numObjectsToRemove ++ ] = threeObject1;
|
||
|
|
userData1.collided = true;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
for ( let i = 0; i < numObjectsToRemove; i ++ ) {
|
||
|
|
|
||
|
|
removeDebris( objectsToRemove[ i ] );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
numObjectsToRemove = 0;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
</script>
|
||
|
|
|
||
|
|
</body>
|
||
|
|
</html>
|