Initial commit

HTML/ThreeJS/node_modules/three/examples/js/physics/AmmoPhysics.js

@@ -0,0 +1,256 @@
+( function () {
+
+	async function AmmoPhysics() {
+
+		if ( 'Ammo' in window === false ) {
+
+			console.error( 'AmmoPhysics: Couldn\'t find Ammo.js' );
+			return;
+
+		}
+
+		const AmmoLib = await Ammo(); // eslint-disable-line no-undef
+
+		const frameRate = 60;
+		const collisionConfiguration = new AmmoLib.btDefaultCollisionConfiguration();
+		const dispatcher = new AmmoLib.btCollisionDispatcher( collisionConfiguration );
+		const broadphase = new AmmoLib.btDbvtBroadphase();
+		const solver = new AmmoLib.btSequentialImpulseConstraintSolver();
+		const world = new AmmoLib.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
+		world.setGravity( new AmmoLib.btVector3( 0, - 9.8, 0 ) );
+		const worldTransform = new AmmoLib.btTransform(); //
+
+		function getShape( geometry ) {
+
+			const parameters = geometry.parameters; // TODO change type to is*
+
+			if ( geometry.type === 'BoxGeometry' ) {
+
+				const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
+				const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
+				const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
+				const shape = new AmmoLib.btBoxShape( new AmmoLib.btVector3( sx, sy, sz ) );
+				shape.setMargin( 0.05 );
+				return shape;
+
+			} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
+
+				const radius = parameters.radius !== undefined ? parameters.radius : 1;
+				const shape = new AmmoLib.btSphereShape( radius );
+				shape.setMargin( 0.05 );
+				return shape;
+
+			}
+
+			return null;
+
+		}
+
+		const meshes = [];
+		const meshMap = new WeakMap();
+
+		function addMesh( mesh, mass = 0 ) {
+
+			const shape = getShape( mesh.geometry );
+
+			if ( shape !== null ) {
+
+				if ( mesh.isInstancedMesh ) {
+
+					handleInstancedMesh( mesh, mass, shape );
+
+				} else if ( mesh.isMesh ) {
+
+					handleMesh( mesh, mass, shape );
+
+				}
+
+			}
+
+		}
+
+		function handleMesh( mesh, mass, shape ) {
+
+			const position = mesh.position;
+			const quaternion = mesh.quaternion;
+			const transform = new AmmoLib.btTransform();
+			transform.setIdentity();
+			transform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+			transform.setRotation( new AmmoLib.btQuaternion( quaternion.x, quaternion.y, quaternion.z, quaternion.w ) );
+			const motionState = new AmmoLib.btDefaultMotionState( transform );
+			const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
+			shape.calculateLocalInertia( mass, localInertia );
+			const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
+			const body = new AmmoLib.btRigidBody( rbInfo ); // body.setFriction( 4 );
+
+			world.addRigidBody( body );
+
+			if ( mass > 0 ) {
+
+				meshes.push( mesh );
+				meshMap.set( mesh, body );
+
+			}
+
+		}
+
+		function handleInstancedMesh( mesh, mass, shape ) {
+
+			const array = mesh.instanceMatrix.array;
+			const bodies = [];
+
+			for ( let i = 0; i < mesh.count; i ++ ) {
+
+				const index = i * 16;
+				const transform = new AmmoLib.btTransform();
+				transform.setFromOpenGLMatrix( array.slice( index, index + 16 ) );
+				const motionState = new AmmoLib.btDefaultMotionState( transform );
+				const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
+				shape.calculateLocalInertia( mass, localInertia );
+				const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
+				const body = new AmmoLib.btRigidBody( rbInfo );
+				world.addRigidBody( body );
+				bodies.push( body );
+
+			}
+
+			if ( mass > 0 ) {
+
+				meshes.push( mesh );
+				meshMap.set( mesh, bodies );
+
+			}
+
+		} //
+
+
+		function setMeshPosition( mesh, position, index = 0 ) {
+
+			if ( mesh.isInstancedMesh ) {
+
+				const bodies = meshMap.get( mesh );
+				const body = bodies[ index ];
+				body.setAngularVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+				body.setLinearVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+				worldTransform.setIdentity();
+				worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+				body.setWorldTransform( worldTransform );
+
+			} else if ( mesh.isMesh ) {
+
+				const body = meshMap.get( mesh );
+				body.setAngularVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+				body.setLinearVelocity( new AmmoLib.btVector3( 0, 0, 0 ) );
+				worldTransform.setIdentity();
+				worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+				body.setWorldTransform( worldTransform );
+
+			}
+
+		} //
+
+
+		let lastTime = 0;
+
+		function step() {
+
+			const time = performance.now();
+
+			if ( lastTime > 0 ) {
+
+				const delta = ( time - lastTime ) / 1000; // console.time( 'world.step' );
+
+				world.stepSimulation( delta, 10 ); // console.timeEnd( 'world.step' );
+
+			}
+
+			lastTime = time; //
+
+			for ( let i = 0, l = meshes.length; i < l; i ++ ) {
+
+				const mesh = meshes[ i ];
+
+				if ( mesh.isInstancedMesh ) {
+
+					const array = mesh.instanceMatrix.array;
+					const bodies = meshMap.get( mesh );
+
+					for ( let j = 0; j < bodies.length; j ++ ) {
+
+						const body = bodies[ j ];
+						const motionState = body.getMotionState();
+						motionState.getWorldTransform( worldTransform );
+						const position = worldTransform.getOrigin();
+						const quaternion = worldTransform.getRotation();
+						compose( position, quaternion, array, j * 16 );
+
+					}
+
+					mesh.instanceMatrix.needsUpdate = true;
+
+				} else if ( mesh.isMesh ) {
+
+					const body = meshMap.get( mesh );
+					const motionState = body.getMotionState();
+					motionState.getWorldTransform( worldTransform );
+					const position = worldTransform.getOrigin();
+					const quaternion = worldTransform.getRotation();
+					mesh.position.set( position.x(), position.y(), position.z() );
+					mesh.quaternion.set( quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w() );
+
+				}
+
+			}
+
+		} // animate
+
+
+		setInterval( step, 1000 / frameRate );
+		return {
+			addMesh: addMesh,
+			setMeshPosition: setMeshPosition // addCompoundMesh
+
+		};
+
+	}
+
+	function compose( position, quaternion, array, index ) {
+
+		const x = quaternion.x(),
+			y = quaternion.y(),
+			z = quaternion.z(),
+			w = quaternion.w();
+		const x2 = x + x,
+			y2 = y + y,
+			z2 = z + z;
+		const xx = x * x2,
+			xy = x * y2,
+			xz = x * z2;
+		const yy = y * y2,
+			yz = y * z2,
+			zz = z * z2;
+		const wx = w * x2,
+			wy = w * y2,
+			wz = w * z2;
+		array[ index + 0 ] = 1 - ( yy + zz );
+		array[ index + 1 ] = xy + wz;
+		array[ index + 2 ] = xz - wy;
+		array[ index + 3 ] = 0;
+		array[ index + 4 ] = xy - wz;
+		array[ index + 5 ] = 1 - ( xx + zz );
+		array[ index + 6 ] = yz + wx;
+		array[ index + 7 ] = 0;
+		array[ index + 8 ] = xz + wy;
+		array[ index + 9 ] = yz - wx;
+		array[ index + 10 ] = 1 - ( xx + yy );
+		array[ index + 11 ] = 0;
+		array[ index + 12 ] = position.x();
+		array[ index + 13 ] = position.y();
+		array[ index + 14 ] = position.z();
+		array[ index + 15 ] = 1;
+
+	}
+
+	THREE.AmmoPhysics = AmmoPhysics;
+
+} )();

HTML/ThreeJS/node_modules/three/examples/js/physics/OimoPhysics.js

@@ -0,0 +1,215 @@
+( function () {
+
+	async function OimoPhysics() {
+
+		const frameRate = 60;
+		const world = new OIMO.World( 2, new OIMO.Vec3( 0, - 9.8, 0 ) ); //
+
+		function getShape( geometry ) {
+
+			const parameters = geometry.parameters; // TODO change type to is*
+
+			if ( geometry.type === 'BoxGeometry' ) {
+
+				const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
+				const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
+				const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
+				return new OIMO.OBoxGeometry( new OIMO.Vec3( sx, sy, sz ) );
+
+			} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
+
+				const radius = parameters.radius !== undefined ? parameters.radius : 1;
+				return new OIMO.OSphereGeometry( radius );
+
+			}
+
+			return null;
+
+		}
+
+		const meshes = [];
+		const meshMap = new WeakMap();
+
+		function addMesh( mesh, mass = 0 ) {
+
+			const shape = getShape( mesh.geometry );
+
+			if ( shape !== null ) {
+
+				if ( mesh.isInstancedMesh ) {
+
+					handleInstancedMesh( mesh, mass, shape );
+
+				} else if ( mesh.isMesh ) {
+
+					handleMesh( mesh, mass, shape );
+
+				}
+
+			}
+
+		}
+
+		function handleMesh( mesh, mass, shape ) {
+
+			const shapeConfig = new OIMO.ShapeConfig();
+			shapeConfig.geometry = shape;
+			const bodyConfig = new OIMO.RigidBodyConfig();
+			bodyConfig.type = mass === 0 ? OIMO.RigidBodyType.STATIC : OIMO.RigidBodyType.DYNAMIC;
+			bodyConfig.position = new OIMO.Vec3( mesh.position.x, mesh.position.y, mesh.position.z );
+			const body = new OIMO.RigidBody( bodyConfig );
+			body.addShape( new OIMO.Shape( shapeConfig ) );
+			world.addRigidBody( body );
+
+			if ( mass > 0 ) {
+
+				meshes.push( mesh );
+				meshMap.set( mesh, body );
+
+			}
+
+		}
+
+		function handleInstancedMesh( mesh, mass, shape ) {
+
+			const array = mesh.instanceMatrix.array;
+			const bodies = [];
+
+			for ( let i = 0; i < mesh.count; i ++ ) {
+
+				const index = i * 16;
+				const shapeConfig = new OIMO.ShapeConfig();
+				shapeConfig.geometry = shape;
+				const bodyConfig = new OIMO.RigidBodyConfig();
+				bodyConfig.type = mass === 0 ? OIMO.RigidBodyType.STATIC : OIMO.RigidBodyType.DYNAMIC;
+				bodyConfig.position = new OIMO.Vec3( array[ index + 12 ], array[ index + 13 ], array[ index + 14 ] );
+				const body = new OIMO.RigidBody( bodyConfig );
+				body.addShape( new OIMO.Shape( shapeConfig ) );
+				world.addRigidBody( body );
+				bodies.push( body );
+
+			}
+
+			if ( mass > 0 ) {
+
+				meshes.push( mesh );
+				meshMap.set( mesh, bodies );
+
+			}
+
+		} //
+
+
+		function setMeshPosition( mesh, position, index = 0 ) {
+
+			if ( mesh.isInstancedMesh ) {
+
+				const bodies = meshMap.get( mesh );
+				const body = bodies[ index ];
+				body.setPosition( new OIMO.Vec3( position.x, position.y, position.z ) );
+
+			} else if ( mesh.isMesh ) {
+
+				const body = meshMap.get( mesh );
+				body.setPosition( new OIMO.Vec3( position.x, position.y, position.z ) );
+
+			}
+
+		} //
+
+
+		let lastTime = 0;
+
+		function step() {
+
+			const time = performance.now();
+
+			if ( lastTime > 0 ) {
+
+				// console.time( 'world.step' );
+				world.step( 1 / frameRate ); // console.timeEnd( 'world.step' );
+
+			}
+
+			lastTime = time; //
+
+			for ( let i = 0, l = meshes.length; i < l; i ++ ) {
+
+				const mesh = meshes[ i ];
+
+				if ( mesh.isInstancedMesh ) {
+
+					const array = mesh.instanceMatrix.array;
+					const bodies = meshMap.get( mesh );
+
+					for ( let j = 0; j < bodies.length; j ++ ) {
+
+						const body = bodies[ j ];
+						compose( body.getPosition(), body.getOrientation(), array, j * 16 );
+
+					}
+
+					mesh.instanceMatrix.needsUpdate = true;
+
+				} else if ( mesh.isMesh ) {
+
+					const body = meshMap.get( mesh );
+					mesh.position.copy( body.getPosition() );
+					mesh.quaternion.copy( body.getOrientation() );
+
+				}
+
+			}
+
+		} // animate
+
+
+		setInterval( step, 1000 / frameRate );
+		return {
+			addMesh: addMesh,
+			setMeshPosition: setMeshPosition // addCompoundMesh
+
+		};
+
+	}
+
+	function compose( position, quaternion, array, index ) {
+
+		const x = quaternion.x,
+			y = quaternion.y,
+			z = quaternion.z,
+			w = quaternion.w;
+		const x2 = x + x,
+			y2 = y + y,
+			z2 = z + z;
+		const xx = x * x2,
+			xy = x * y2,
+			xz = x * z2;
+		const yy = y * y2,
+			yz = y * z2,
+			zz = z * z2;
+		const wx = w * x2,
+			wy = w * y2,
+			wz = w * z2;
+		array[ index + 0 ] = 1 - ( yy + zz );
+		array[ index + 1 ] = xy + wz;
+		array[ index + 2 ] = xz - wy;
+		array[ index + 3 ] = 0;
+		array[ index + 4 ] = xy - wz;
+		array[ index + 5 ] = 1 - ( xx + zz );
+		array[ index + 6 ] = yz + wx;
+		array[ index + 7 ] = 0;
+		array[ index + 8 ] = xz + wy;
+		array[ index + 9 ] = yz - wx;
+		array[ index + 10 ] = 1 - ( xx + yy );
+		array[ index + 11 ] = 0;
+		array[ index + 12 ] = position.x;
+		array[ index + 13 ] = position.y;
+		array[ index + 14 ] = position.z;
+		array[ index + 15 ] = 1;
+
+	}
+
+	THREE.OimoPhysics = OimoPhysics;
+
+} )();