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514 lines
14 KiB
514 lines
14 KiB
2 years ago
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<html lang="en">
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<head>
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<title>Ammo.js softbody volume 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">
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Ammo.js physics soft body volume demo<br/>
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Click to throw a ball
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</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 * as BufferGeometryUtils from 'three/addons/utils/BufferGeometryUtils.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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let clickRequest = false;
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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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const pos = new THREE.Vector3();
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const quat = new THREE.Quaternion();
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// Physics variables
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const gravityConstant = - 9.8;
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let physicsWorld;
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const rigidBodies = [];
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const softBodies = [];
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const margin = 0.05;
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let transformAux1;
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let softBodyHelpers;
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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 = 20;
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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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window.addEventListener( 'resize', onWindowResize );
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}
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function initPhysics() {
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// Physics configuration
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const collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
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const dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration );
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const broadphase = new Ammo.btDbvtBroadphase();
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const solver = new Ammo.btSequentialImpulseConstraintSolver();
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const 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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softBodyHelpers = new Ammo.btSoftBodyHelpers();
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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 = 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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// Create soft volumes
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const volumeMass = 15;
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const sphereGeometry = new THREE.SphereGeometry( 1.5, 40, 25 );
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sphereGeometry.translate( 5, 5, 0 );
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createSoftVolume( sphereGeometry, volumeMass, 250 );
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const boxGeometry = new THREE.BoxGeometry( 1, 1, 5, 4, 4, 20 );
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boxGeometry.translate( - 2, 5, 0 );
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createSoftVolume( boxGeometry, volumeMass, 120 );
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// Ramp
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pos.set( 3, 1, 0 );
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quat.setFromAxisAngle( new THREE.Vector3( 0, 0, 1 ), 30 * Math.PI / 180 );
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const obstacle = createParalellepiped( 10, 1, 4, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0x606060 } ) );
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obstacle.castShadow = true;
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obstacle.receiveShadow = true;
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}
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function processGeometry( bufGeometry ) {
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// Ony consider the position values when merging the vertices
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const posOnlyBufGeometry = new THREE.BufferGeometry();
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posOnlyBufGeometry.setAttribute( 'position', bufGeometry.getAttribute( 'position' ) );
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posOnlyBufGeometry.setIndex( bufGeometry.getIndex() );
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// Merge the vertices so the triangle soup is converted to indexed triangles
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const indexedBufferGeom = BufferGeometryUtils.mergeVertices( posOnlyBufGeometry );
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// Create index arrays mapping the indexed vertices to bufGeometry vertices
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mapIndices( bufGeometry, indexedBufferGeom );
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}
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function isEqual( x1, y1, z1, x2, y2, z2 ) {
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const delta = 0.000001;
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return Math.abs( x2 - x1 ) < delta &&
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Math.abs( y2 - y1 ) < delta &&
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Math.abs( z2 - z1 ) < delta;
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}
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function mapIndices( bufGeometry, indexedBufferGeom ) {
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// Creates ammoVertices, ammoIndices and ammoIndexAssociation in bufGeometry
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const vertices = bufGeometry.attributes.position.array;
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const idxVertices = indexedBufferGeom.attributes.position.array;
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const indices = indexedBufferGeom.index.array;
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const numIdxVertices = idxVertices.length / 3;
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const numVertices = vertices.length / 3;
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bufGeometry.ammoVertices = idxVertices;
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bufGeometry.ammoIndices = indices;
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bufGeometry.ammoIndexAssociation = [];
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for ( let i = 0; i < numIdxVertices; i ++ ) {
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const association = [];
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bufGeometry.ammoIndexAssociation.push( association );
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const i3 = i * 3;
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for ( let j = 0; j < numVertices; j ++ ) {
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const j3 = j * 3;
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if ( isEqual( idxVertices[ i3 ], idxVertices[ i3 + 1 ], idxVertices[ i3 + 2 ],
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vertices[ j3 ], vertices[ j3 + 1 ], vertices[ j3 + 2 ] ) ) {
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association.push( j3 );
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}
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}
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}
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}
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function createSoftVolume( bufferGeom, mass, pressure ) {
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processGeometry( bufferGeom );
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const volume = new THREE.Mesh( bufferGeom, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
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volume.castShadow = true;
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volume.receiveShadow = true;
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volume.frustumCulled = false;
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scene.add( volume );
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textureLoader.load( 'textures/colors.png', function ( texture ) {
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volume.material.map = texture;
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volume.material.needsUpdate = true;
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} );
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// Volume physic object
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const volumeSoftBody = softBodyHelpers.CreateFromTriMesh(
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physicsWorld.getWorldInfo(),
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bufferGeom.ammoVertices,
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bufferGeom.ammoIndices,
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bufferGeom.ammoIndices.length / 3,
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true );
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const sbConfig = volumeSoftBody.get_m_cfg();
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sbConfig.set_viterations( 40 );
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sbConfig.set_piterations( 40 );
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// Soft-soft and soft-rigid collisions
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sbConfig.set_collisions( 0x11 );
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// Friction
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sbConfig.set_kDF( 0.1 );
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// Damping
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sbConfig.set_kDP( 0.01 );
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// Pressure
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sbConfig.set_kPR( pressure );
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// Stiffness
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volumeSoftBody.get_m_materials().at( 0 ).set_m_kLST( 0.9 );
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volumeSoftBody.get_m_materials().at( 0 ).set_m_kAST( 0.9 );
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volumeSoftBody.setTotalMass( mass, false );
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Ammo.castObject( volumeSoftBody, Ammo.btCollisionObject ).getCollisionShape().setMargin( margin );
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physicsWorld.addSoftBody( volumeSoftBody, 1, - 1 );
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volume.userData.physicsBody = volumeSoftBody;
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// Disable deactivation
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volumeSoftBody.setActivationState( 4 );
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softBodies.push( volume );
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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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return body;
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}
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function initInput() {
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window.addEventListener( 'pointerdown', function ( event ) {
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if ( ! clickRequest ) {
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mouseCoords.set(
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( event.clientX / window.innerWidth ) * 2 - 1,
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- ( event.clientY / window.innerHeight ) * 2 + 1
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);
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clickRequest = true;
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}
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} );
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}
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function processClick() {
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if ( clickRequest ) {
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raycaster.setFromCamera( mouseCoords, camera );
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// Creates a ball
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const ballMass = 3;
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const ballRadius = 0.4;
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const ball = new THREE.Mesh( new THREE.SphereGeometry( ballRadius, 18, 16 ), ballMaterial );
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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 );
|
||
|
|
ballBody.setFriction( 0.5 );
|
||
|
|
|
||
|
|
pos.copy( raycaster.ray.direction );
|
||
|
|
pos.multiplyScalar( 14 );
|
||
|
|
ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
|
||
|
|
|
||
|
|
clickRequest = false;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
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 );
|
||
|
|
|
||
|
|
processClick();
|
||
|
|
|
||
|
|
renderer.render( scene, camera );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
function updatePhysics( deltaTime ) {
|
||
|
|
|
||
|
|
// Step world
|
||
|
|
physicsWorld.stepSimulation( deltaTime, 10 );
|
||
|
|
|
||
|
|
// Update soft volumes
|
||
|
|
for ( let i = 0, il = softBodies.length; i < il; i ++ ) {
|
||
|
|
|
||
|
|
const volume = softBodies[ i ];
|
||
|
|
const geometry = volume.geometry;
|
||
|
|
const softBody = volume.userData.physicsBody;
|
||
|
|
const volumePositions = geometry.attributes.position.array;
|
||
|
|
const volumeNormals = geometry.attributes.normal.array;
|
||
|
|
const association = geometry.ammoIndexAssociation;
|
||
|
|
const numVerts = association.length;
|
||
|
|
const nodes = softBody.get_m_nodes();
|
||
|
|
for ( let j = 0; j < numVerts; j ++ ) {
|
||
|
|
|
||
|
|
const node = nodes.at( j );
|
||
|
|
const nodePos = node.get_m_x();
|
||
|
|
const x = nodePos.x();
|
||
|
|
const y = nodePos.y();
|
||
|
|
const z = nodePos.z();
|
||
|
|
const nodeNormal = node.get_m_n();
|
||
|
|
const nx = nodeNormal.x();
|
||
|
|
const ny = nodeNormal.y();
|
||
|
|
const nz = nodeNormal.z();
|
||
|
|
|
||
|
|
const assocVertex = association[ j ];
|
||
|
|
|
||
|
|
for ( let k = 0, kl = assocVertex.length; k < kl; k ++ ) {
|
||
|
|
|
||
|
|
let indexVertex = assocVertex[ k ];
|
||
|
|
volumePositions[ indexVertex ] = x;
|
||
|
|
volumeNormals[ indexVertex ] = nx;
|
||
|
|
indexVertex ++;
|
||
|
|
volumePositions[ indexVertex ] = y;
|
||
|
|
volumeNormals[ indexVertex ] = ny;
|
||
|
|
indexVertex ++;
|
||
|
|
volumePositions[ indexVertex ] = z;
|
||
|
|
volumeNormals[ indexVertex ] = nz;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
geometry.attributes.position.needsUpdate = true;
|
||
|
|
geometry.attributes.normal.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>
|