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449 lines
12 KiB
449 lines
12 KiB
2 years ago
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<!DOCTYPE html>
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<html lang="en">
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<head>
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<title>Ammo.js terrain heightfield 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="container"></div>
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<div id="info">Ammo.js physics terrain heightfield demo</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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// Heightfield parameters
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const terrainWidthExtents = 100;
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const terrainDepthExtents = 100;
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const terrainWidth = 128;
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const terrainDepth = 128;
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const terrainHalfWidth = terrainWidth / 2;
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const terrainHalfDepth = terrainDepth / 2;
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const terrainMaxHeight = 8;
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const terrainMinHeight = - 2;
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// Graphics variables
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let container, stats;
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let camera, scene, renderer;
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let terrainMesh;
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const clock = new THREE.Clock();
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// Physics variables
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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 dynamicObjects = [];
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let transformAux1;
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let heightData = null;
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let ammoHeightData = null;
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let time = 0;
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const objectTimePeriod = 3;
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let timeNextSpawn = time + objectTimePeriod;
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const maxNumObjects = 30;
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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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heightData = generateHeight( terrainWidth, terrainDepth, terrainMinHeight, terrainMaxHeight );
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initGraphics();
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initPhysics();
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}
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function initGraphics() {
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container = document.getElementById( 'container' );
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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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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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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.y = heightData[ terrainHalfWidth + terrainHalfDepth * terrainWidth ] * ( terrainMaxHeight - terrainMinHeight ) + 5;
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camera.position.z = terrainDepthExtents / 2;
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camera.lookAt( 0, 0, 0 );
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const controls = new OrbitControls( camera, renderer.domElement );
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controls.enableZoom = false;
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const geometry = new THREE.PlaneGeometry( terrainWidthExtents, terrainDepthExtents, terrainWidth - 1, terrainDepth - 1 );
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geometry.rotateX( - Math.PI / 2 );
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const vertices = geometry.attributes.position.array;
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for ( let i = 0, j = 0, l = vertices.length; i < l; i ++, j += 3 ) {
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// j + 1 because it is the y component that we modify
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vertices[ j + 1 ] = heightData[ i ];
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}
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geometry.computeVertexNormals();
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const groundMaterial = new THREE.MeshPhongMaterial( { color: 0xC7C7C7 } );
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terrainMesh = new THREE.Mesh( geometry, groundMaterial );
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terrainMesh.receiveShadow = true;
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terrainMesh.castShadow = true;
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scene.add( terrainMesh );
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const textureLoader = new THREE.TextureLoader();
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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( terrainWidth - 1, terrainDepth - 1 );
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groundMaterial.map = texture;
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groundMaterial.needsUpdate = true;
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} );
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const light = new THREE.DirectionalLight( 0xffffff, 1 );
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light.position.set( 100, 100, 50 );
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light.castShadow = true;
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const dLight = 200;
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const sLight = dLight * 0.25;
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light.shadow.camera.left = - sLight;
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light.shadow.camera.right = sLight;
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light.shadow.camera.top = sLight;
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light.shadow.camera.bottom = - sLight;
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light.shadow.camera.near = dLight / 30;
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light.shadow.camera.far = dLight;
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light.shadow.mapSize.x = 1024 * 2;
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light.shadow.mapSize.y = 1024 * 2;
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scene.add( light );
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window.addEventListener( 'resize', onWindowResize );
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}
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function onWindowResize() {
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camera.aspect = window.innerWidth / window.innerHeight;
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camera.updateProjectionMatrix();
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renderer.setSize( window.innerWidth, window.innerHeight );
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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, - 6, 0 ) );
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// Create the terrain body
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const groundShape = createTerrainShape();
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const groundTransform = new Ammo.btTransform();
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groundTransform.setIdentity();
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// Shifts the terrain, since bullet re-centers it on its bounding box.
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groundTransform.setOrigin( new Ammo.btVector3( 0, ( terrainMaxHeight + terrainMinHeight ) / 2, 0 ) );
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const groundMass = 0;
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const groundLocalInertia = new Ammo.btVector3( 0, 0, 0 );
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const groundMotionState = new Ammo.btDefaultMotionState( groundTransform );
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const groundBody = new Ammo.btRigidBody( new Ammo.btRigidBodyConstructionInfo( groundMass, groundMotionState, groundShape, groundLocalInertia ) );
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physicsWorld.addRigidBody( groundBody );
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transformAux1 = new Ammo.btTransform();
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}
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function generateHeight( width, depth, minHeight, maxHeight ) {
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// Generates the height data (a sinus wave)
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const size = width * depth;
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const data = new Float32Array( size );
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const hRange = maxHeight - minHeight;
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const w2 = width / 2;
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const d2 = depth / 2;
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const phaseMult = 12;
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let p = 0;
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for ( let j = 0; j < depth; j ++ ) {
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for ( let i = 0; i < width; i ++ ) {
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const radius = Math.sqrt(
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Math.pow( ( i - w2 ) / w2, 2.0 ) +
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Math.pow( ( j - d2 ) / d2, 2.0 ) );
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const height = ( Math.sin( radius * phaseMult ) + 1 ) * 0.5 * hRange + minHeight;
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data[ p ] = height;
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p ++;
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}
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}
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return data;
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}
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function createTerrainShape() {
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// This parameter is not really used, since we are using PHY_FLOAT height data type and hence it is ignored
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const heightScale = 1;
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// Up axis = 0 for X, 1 for Y, 2 for Z. Normally 1 = Y is used.
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const upAxis = 1;
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// hdt, height data type. "PHY_FLOAT" is used. Possible values are "PHY_FLOAT", "PHY_UCHAR", "PHY_SHORT"
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const hdt = 'PHY_FLOAT';
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// Set this to your needs (inverts the triangles)
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const flipQuadEdges = false;
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// Creates height data buffer in Ammo heap
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ammoHeightData = Ammo._malloc( 4 * terrainWidth * terrainDepth );
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// Copy the javascript height data array to the Ammo one.
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let p = 0;
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let p2 = 0;
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for ( let j = 0; j < terrainDepth; j ++ ) {
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for ( let i = 0; i < terrainWidth; i ++ ) {
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// write 32-bit float data to memory
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Ammo.HEAPF32[ ammoHeightData + p2 >> 2 ] = heightData[ p ];
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p ++;
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// 4 bytes/float
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p2 += 4;
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}
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}
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// Creates the heightfield physics shape
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const heightFieldShape = new Ammo.btHeightfieldTerrainShape(
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terrainWidth,
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terrainDepth,
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ammoHeightData,
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heightScale,
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terrainMinHeight,
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terrainMaxHeight,
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upAxis,
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hdt,
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flipQuadEdges
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);
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// Set horizontal scale
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const scaleX = terrainWidthExtents / ( terrainWidth - 1 );
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const scaleZ = terrainDepthExtents / ( terrainDepth - 1 );
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heightFieldShape.setLocalScaling( new Ammo.btVector3( scaleX, 1, scaleZ ) );
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heightFieldShape.setMargin( 0.05 );
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return heightFieldShape;
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}
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function generateObject() {
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const numTypes = 4;
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const objectType = Math.ceil( Math.random() * numTypes );
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let threeObject = null;
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let shape = null;
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const objectSize = 3;
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const margin = 0.05;
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let radius, height;
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switch ( objectType ) {
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case 1:
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// Sphere
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radius = 1 + Math.random() * objectSize;
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threeObject = new THREE.Mesh( new THREE.SphereGeometry( radius, 20, 20 ), createObjectMaterial() );
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shape = new Ammo.btSphereShape( radius );
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shape.setMargin( margin );
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break;
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case 2:
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// Box
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const sx = 1 + Math.random() * objectSize;
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const sy = 1 + Math.random() * objectSize;
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const sz = 1 + Math.random() * objectSize;
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threeObject = new THREE.Mesh( new THREE.BoxGeometry( sx, sy, sz, 1, 1, 1 ), createObjectMaterial() );
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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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break;
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case 3:
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// Cylinder
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radius = 1 + Math.random() * objectSize;
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height = 1 + Math.random() * objectSize;
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threeObject = new THREE.Mesh( new THREE.CylinderGeometry( radius, radius, height, 20, 1 ), createObjectMaterial() );
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shape = new Ammo.btCylinderShape( new Ammo.btVector3( radius, height * 0.5, radius ) );
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shape.setMargin( margin );
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break;
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default:
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// Cone
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radius = 1 + Math.random() * objectSize;
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height = 2 + Math.random() * objectSize;
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threeObject = new THREE.Mesh( new THREE.ConeGeometry( radius, height, 20, 2 ), createObjectMaterial() );
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shape = new Ammo.btConeShape( radius, height );
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break;
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}
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threeObject.position.set( ( Math.random() - 0.5 ) * terrainWidth * 0.6, terrainMaxHeight + objectSize + 2, ( Math.random() - 0.5 ) * terrainDepth * 0.6 );
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const mass = objectSize * 5;
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const localInertia = new Ammo.btVector3( 0, 0, 0 );
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shape.calculateLocalInertia( mass, localInertia );
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const transform = new Ammo.btTransform();
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transform.setIdentity();
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const pos = threeObject.position;
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transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
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const motionState = new Ammo.btDefaultMotionState( transform );
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const rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
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const body = new Ammo.btRigidBody( rbInfo );
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threeObject.userData.physicsBody = body;
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threeObject.receiveShadow = true;
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threeObject.castShadow = true;
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scene.add( threeObject );
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dynamicObjects.push( threeObject );
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physicsWorld.addRigidBody( body );
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}
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function createObjectMaterial() {
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const c = Math.floor( Math.random() * ( 1 << 24 ) );
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|
return new THREE.MeshPhongMaterial( { color: c } );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function animate() {
|
||
|
|
|
||
|
|
requestAnimationFrame( animate );
|
||
|
|
|
||
|
|
render();
|
||
|
|
stats.update();
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function render() {
|
||
|
|
|
||
|
|
const deltaTime = clock.getDelta();
|
||
|
|
|
||
|
|
if ( dynamicObjects.length < maxNumObjects && time > timeNextSpawn ) {
|
||
|
|
|
||
|
|
generateObject();
|
||
|
|
timeNextSpawn = time + objectTimePeriod;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
updatePhysics( deltaTime );
|
||
|
|
|
||
|
|
renderer.render( scene, camera );
|
||
|
|
|
||
|
|
time += deltaTime;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function updatePhysics( deltaTime ) {
|
||
|
|
|
||
|
|
physicsWorld.stepSimulation( deltaTime, 10 );
|
||
|
|
|
||
|
|
// Update objects
|
||
|
|
for ( let i = 0, il = dynamicObjects.length; i < il; i ++ ) {
|
||
|
|
|
||
|
|
const objThree = dynamicObjects[ 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>
|