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<!DOCTYPE html>
<html lang="en">
<head>
<title>three.js - misc - octree collisions</title>
<meta charset=utf-8 />
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<link type="text/css" rel="stylesheet" href="main.css">
</head>
<body>
<div id="info">
Octree threejs demo - basic collisions with static triangle mesh<br />
MOUSE to look around and to throw balls<br/>
WASD to move and SPACE to jump
</div>
<div id="container"></div>
<!-- Import maps polyfill -->
<!-- Remove this when import maps will be widely supported -->
<script async src="https://unpkg.com/es-module-shims@1.3.6/dist/es-module-shims.js"></script>
<script type="importmap">
{
"imports": {
"three": "../build/three.module.js",
"three/addons/": "./jsm/"
}
}
</script>
<script type="module">
import * as THREE from 'three';
import Stats from 'three/addons/libs/stats.module.js';
import { GLTFLoader } from 'three/addons/loaders/GLTFLoader.js';
import { Octree } from 'three/addons/math/Octree.js';
import { OctreeHelper } from 'three/addons/helpers/OctreeHelper.js';
import { Capsule } from 'three/addons/math/Capsule.js';
import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
const clock = new THREE.Clock();
const scene = new THREE.Scene();
scene.background = new THREE.Color( 0x88ccee );
scene.fog = new THREE.Fog( 0x88ccee, 0, 50 );
const camera = new THREE.PerspectiveCamera( 70, window.innerWidth / window.innerHeight, 0.1, 1000 );
camera.rotation.order = 'YXZ';
const fillLight1 = new THREE.HemisphereLight( 0x4488bb, 0x002244, 0.5 );
fillLight1.position.set( 2, 1, 1 );
scene.add( fillLight1 );
const directionalLight = new THREE.DirectionalLight( 0xffffff, 0.8 );
directionalLight.position.set( - 5, 25, - 1 );
directionalLight.castShadow = true;
directionalLight.shadow.camera.near = 0.01;
directionalLight.shadow.camera.far = 500;
directionalLight.shadow.camera.right = 30;
directionalLight.shadow.camera.left = - 30;
directionalLight.shadow.camera.top = 30;
directionalLight.shadow.camera.bottom = - 30;
directionalLight.shadow.mapSize.width = 1024;
directionalLight.shadow.mapSize.height = 1024;
directionalLight.shadow.radius = 4;
directionalLight.shadow.bias = - 0.00006;
scene.add( directionalLight );
const container = document.getElementById( 'container' );
const renderer = new THREE.WebGLRenderer( { antialias: true } );
renderer.setPixelRatio( window.devicePixelRatio );
renderer.setSize( window.innerWidth, window.innerHeight );
renderer.shadowMap.enabled = true;
renderer.shadowMap.type = THREE.VSMShadowMap;
renderer.outputEncoding = THREE.sRGBEncoding;
renderer.toneMapping = THREE.ACESFilmicToneMapping;
container.appendChild( renderer.domElement );
const stats = new Stats();
stats.domElement.style.position = 'absolute';
stats.domElement.style.top = '0px';
container.appendChild( stats.domElement );
const GRAVITY = 30;
const NUM_SPHERES = 100;
const SPHERE_RADIUS = 0.2;
const STEPS_PER_FRAME = 5;
const sphereGeometry = new THREE.IcosahedronGeometry( SPHERE_RADIUS, 5 );
const sphereMaterial = new THREE.MeshLambertMaterial( { color: 0xbbbb44 } );
const spheres = [];
let sphereIdx = 0;
for ( let i = 0; i < NUM_SPHERES; i ++ ) {
const sphere = new THREE.Mesh( sphereGeometry, sphereMaterial );
sphere.castShadow = true;
sphere.receiveShadow = true;
scene.add( sphere );
spheres.push( {
mesh: sphere,
collider: new THREE.Sphere( new THREE.Vector3( 0, - 100, 0 ), SPHERE_RADIUS ),
velocity: new THREE.Vector3()
} );
}
const worldOctree = new Octree();
const playerCollider = new Capsule( new THREE.Vector3( 0, 0.35, 0 ), new THREE.Vector3( 0, 1, 0 ), 0.35 );
const playerVelocity = new THREE.Vector3();
const playerDirection = new THREE.Vector3();
let playerOnFloor = false;
let mouseTime = 0;
const keyStates = {};
const vector1 = new THREE.Vector3();
const vector2 = new THREE.Vector3();
const vector3 = new THREE.Vector3();
document.addEventListener( 'keydown', ( event ) => {
keyStates[ event.code ] = true;
} );
document.addEventListener( 'keyup', ( event ) => {
keyStates[ event.code ] = false;
} );
container.addEventListener( 'mousedown', () => {
document.body.requestPointerLock();
mouseTime = performance.now();
} );
document.addEventListener( 'mouseup', () => {
if ( document.pointerLockElement !== null ) throwBall();
} );
document.body.addEventListener( 'mousemove', ( event ) => {
if ( document.pointerLockElement === document.body ) {
camera.rotation.y -= event.movementX / 500;
camera.rotation.x -= event.movementY / 500;
}
} );
window.addEventListener( 'resize', onWindowResize );
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight;
camera.updateProjectionMatrix();
renderer.setSize( window.innerWidth, window.innerHeight );
}
function throwBall() {
const sphere = spheres[ sphereIdx ];
camera.getWorldDirection( playerDirection );
sphere.collider.center.copy( playerCollider.end ).addScaledVector( playerDirection, playerCollider.radius * 1.5 );
// throw the ball with more force if we hold the button longer, and if we move forward
const impulse = 15 + 30 * ( 1 - Math.exp( ( mouseTime - performance.now() ) * 0.001 ) );
sphere.velocity.copy( playerDirection ).multiplyScalar( impulse );
sphere.velocity.addScaledVector( playerVelocity, 2 );
sphereIdx = ( sphereIdx + 1 ) % spheres.length;
}
function playerCollisions() {
const result = worldOctree.capsuleIntersect( playerCollider );
playerOnFloor = false;
if ( result ) {
playerOnFloor = result.normal.y > 0;
if ( ! playerOnFloor ) {
playerVelocity.addScaledVector( result.normal, - result.normal.dot( playerVelocity ) );
}
playerCollider.translate( result.normal.multiplyScalar( result.depth ) );
}
}
function updatePlayer( deltaTime ) {
let damping = Math.exp( - 4 * deltaTime ) - 1;
if ( ! playerOnFloor ) {
playerVelocity.y -= GRAVITY * deltaTime;
// small air resistance
damping *= 0.1;
}
playerVelocity.addScaledVector( playerVelocity, damping );
const deltaPosition = playerVelocity.clone().multiplyScalar( deltaTime );
playerCollider.translate( deltaPosition );
playerCollisions();
camera.position.copy( playerCollider.end );
}
function playerSphereCollision( sphere ) {
const center = vector1.addVectors( playerCollider.start, playerCollider.end ).multiplyScalar( 0.5 );
const sphere_center = sphere.collider.center;
const r = playerCollider.radius + sphere.collider.radius;
const r2 = r * r;
// approximation: player = 3 spheres
for ( const point of [ playerCollider.start, playerCollider.end, center ] ) {
const d2 = point.distanceToSquared( sphere_center );
if ( d2 < r2 ) {
const normal = vector1.subVectors( point, sphere_center ).normalize();
const v1 = vector2.copy( normal ).multiplyScalar( normal.dot( playerVelocity ) );
const v2 = vector3.copy( normal ).multiplyScalar( normal.dot( sphere.velocity ) );
playerVelocity.add( v2 ).sub( v1 );
sphere.velocity.add( v1 ).sub( v2 );
const d = ( r - Math.sqrt( d2 ) ) / 2;
sphere_center.addScaledVector( normal, - d );
}
}
}
function spheresCollisions() {
for ( let i = 0, length = spheres.length; i < length; i ++ ) {
const s1 = spheres[ i ];
for ( let j = i + 1; j < length; j ++ ) {
const s2 = spheres[ j ];
const d2 = s1.collider.center.distanceToSquared( s2.collider.center );
const r = s1.collider.radius + s2.collider.radius;
const r2 = r * r;
if ( d2 < r2 ) {
const normal = vector1.subVectors( s1.collider.center, s2.collider.center ).normalize();
const v1 = vector2.copy( normal ).multiplyScalar( normal.dot( s1.velocity ) );
const v2 = vector3.copy( normal ).multiplyScalar( normal.dot( s2.velocity ) );
s1.velocity.add( v2 ).sub( v1 );
s2.velocity.add( v1 ).sub( v2 );
const d = ( r - Math.sqrt( d2 ) ) / 2;
s1.collider.center.addScaledVector( normal, d );
s2.collider.center.addScaledVector( normal, - d );
}
}
}
}
function updateSpheres( deltaTime ) {
spheres.forEach( sphere => {
sphere.collider.center.addScaledVector( sphere.velocity, deltaTime );
const result = worldOctree.sphereIntersect( sphere.collider );
if ( result ) {
sphere.velocity.addScaledVector( result.normal, - result.normal.dot( sphere.velocity ) * 1.5 );
sphere.collider.center.add( result.normal.multiplyScalar( result.depth ) );
} else {
sphere.velocity.y -= GRAVITY * deltaTime;
}
const damping = Math.exp( - 1.5 * deltaTime ) - 1;
sphere.velocity.addScaledVector( sphere.velocity, damping );
playerSphereCollision( sphere );
} );
spheresCollisions();
for ( const sphere of spheres ) {
sphere.mesh.position.copy( sphere.collider.center );
}
}
function getForwardVector() {
camera.getWorldDirection( playerDirection );
playerDirection.y = 0;
playerDirection.normalize();
return playerDirection;
}
function getSideVector() {
camera.getWorldDirection( playerDirection );
playerDirection.y = 0;
playerDirection.normalize();
playerDirection.cross( camera.up );
return playerDirection;
}
function controls( deltaTime ) {
// gives a bit of air control
const speedDelta = deltaTime * ( playerOnFloor ? 25 : 8 );
if ( keyStates[ 'KeyW' ] ) {
playerVelocity.add( getForwardVector().multiplyScalar( speedDelta ) );
}
if ( keyStates[ 'KeyS' ] ) {
playerVelocity.add( getForwardVector().multiplyScalar( - speedDelta ) );
}
if ( keyStates[ 'KeyA' ] ) {
playerVelocity.add( getSideVector().multiplyScalar( - speedDelta ) );
}
if ( keyStates[ 'KeyD' ] ) {
playerVelocity.add( getSideVector().multiplyScalar( speedDelta ) );
}
if ( playerOnFloor ) {
if ( keyStates[ 'Space' ] ) {
playerVelocity.y = 15;
}
}
}
const loader = new GLTFLoader().setPath( './models/gltf/' );
loader.load( 'collision-world.glb', ( gltf ) => {
scene.add( gltf.scene );
worldOctree.fromGraphNode( gltf.scene );
gltf.scene.traverse( child => {
if ( child.isMesh ) {
child.castShadow = true;
child.receiveShadow = true;
if ( child.material.map ) {
child.material.map.anisotropy = 4;
}
}
} );
const helper = new OctreeHelper( worldOctree );
helper.visible = false;
scene.add( helper );
const gui = new GUI( { width: 200 } );
gui.add( { debug: false }, 'debug' )
.onChange( function ( value ) {
helper.visible = value;
} );
animate();
} );
function teleportPlayerIfOob() {
if ( camera.position.y <= - 25 ) {
playerCollider.start.set( 0, 0.35, 0 );
playerCollider.end.set( 0, 1, 0 );
playerCollider.radius = 0.35;
camera.position.copy( playerCollider.end );
camera.rotation.set( 0, 0, 0 );
}
}
function animate() {
const deltaTime = Math.min( 0.05, clock.getDelta() ) / STEPS_PER_FRAME;
// we look for collisions in substeps to mitigate the risk of
// an object traversing another too quickly for detection.
for ( let i = 0; i < STEPS_PER_FRAME; i ++ ) {
controls( deltaTime );
updatePlayer( deltaTime );
updateSpheres( deltaTime );
teleportPlayerIfOob();
}
renderer.render( scene, camera );
stats.update();
requestAnimationFrame( animate );
}
</script>
</body>
</html>