This repository has been archived by the owner on Nov 18, 2024. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 36
/
Copy pathphysics_ammo_break.html
604 lines (395 loc) · 16.5 KB
/
physics_ammo_break.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
<html lang="en">
<head>
<title>Convex object breaking example</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">
<style>
body {
color: #333;
}
</style>
</head>
<body>
<div id="info">Physics threejs demo with convex objects breaking in real time<br />Press mouse to throw balls and move the camera.</div>
<div id="container"></div>
<script src="jsm/libs/ammo.wasm.js"></script>
<!-- Import maps polyfill -->
<!-- Remove this when import maps will be widely supported -->
<script async src="https://unpkg.com/[email protected]/dist/es-module-shims.js"></script>
<script type="importmap">
{
"imports": {
"v3d": "../build/v3d.module.js",
"v3d/addons/": "./jsm/"
}
}
</script>
<script type="module">
import * as v3d from 'v3d';
import Stats from 'v3d/addons/libs/stats.module.js';
import { OrbitControls } from 'v3d/addons/controls/OrbitControls.js';
import { ConvexObjectBreaker } from 'v3d/addons/misc/ConvexObjectBreaker.js';
import { ConvexGeometry } from 'v3d/addons/geometries/ConvexGeometry.js';
// - Global variables -
// Graphics variables
let container, stats;
let camera, controls, scene, renderer;
let textureLoader;
const clock = new v3d.Clock();
const mouseCoords = new v3d.Vector2();
const raycaster = new v3d.Raycaster();
const ballMaterial = new v3d.MeshPhongMaterial({ color: 0x202020 });
// Physics variables
const gravityConstant = 7.8;
let collisionConfiguration;
let dispatcher;
let broadphase;
let solver;
let physicsWorld;
const margin = 0.05;
const convexBreaker = new ConvexObjectBreaker();
// Rigid bodies include all movable objects
const rigidBodies = [];
const pos = new v3d.Vector3();
const quat = new v3d.Quaternion();
let transformAux1;
let tempBtVec3_1;
const objectsToRemove = [];
for (let i = 0; i < 500; i++) {
objectsToRemove[i] = null;
}
let numObjectsToRemove = 0;
const impactPoint = new v3d.Vector3();
const impactNormal = new v3d.Vector3();
// - Main code -
Ammo().then(function(AmmoLib) {
Ammo = AmmoLib;
init();
animate();
});
// - Functions -
function init() {
initGraphics();
initPhysics();
createObjects();
initInput();
}
function initGraphics() {
container = document.getElementById('container');
camera = new v3d.PerspectiveCamera(60, window.innerWidth / window.innerHeight, 0.2, 2000);
scene = new v3d.Scene();
scene.background = new v3d.Color(0xbfd1e5);
camera.position.set(- 14, 8, 16);
renderer = new v3d.WebGLRenderer();
renderer.setPixelRatio(window.devicePixelRatio);
renderer.setSize(window.innerWidth, window.innerHeight);
renderer.shadowMap.enabled = true;
container.appendChild(renderer.domElement);
controls = new OrbitControls(camera, renderer.domElement);
controls.target.set(0, 2, 0);
controls.update();
textureLoader = new v3d.TextureLoader();
const ambientLight = new v3d.AmbientLight(0x707070);
scene.add(ambientLight);
const light = new v3d.DirectionalLight(0xffffff, 1);
light.position.set(- 10, 18, 5);
light.castShadow = true;
const d = 14;
light.shadow.camera.left = - d;
light.shadow.camera.right = d;
light.shadow.camera.top = d;
light.shadow.camera.bottom = - d;
light.shadow.camera.near = 2;
light.shadow.camera.far = 50;
light.shadow.mapSize.x = 1024;
light.shadow.mapSize.y = 1024;
scene.add(light);
stats = new Stats();
stats.domElement.style.position = 'absolute';
stats.domElement.style.top = '0px';
container.appendChild(stats.domElement);
//
window.addEventListener('resize', onWindowResize);
}
function initPhysics() {
// Physics configuration
collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
broadphase = new Ammo.btDbvtBroadphase();
solver = new Ammo.btSequentialImpulseConstraintSolver();
physicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
physicsWorld.setGravity(new Ammo.btVector3(0, - gravityConstant, 0));
transformAux1 = new Ammo.btTransform();
tempBtVec3_1 = new Ammo.btVector3(0, 0, 0);
}
function createObject(mass, halfExtents, pos, quat, material) {
const object = new v3d.Mesh(new v3d.BoxGeometry(halfExtents.x * 2, halfExtents.y * 2, halfExtents.z * 2), material);
object.position.copy(pos);
object.quaternion.copy(quat);
convexBreaker.prepareBreakableObject(object, mass, new v3d.Vector3(), new v3d.Vector3(), true);
createDebrisFromBreakableObject(object);
}
function createObjects() {
// Ground
pos.set(0, -0.5, 0);
quat.set(0, 0, 0, 1);
const ground = createParalellepipedWithPhysics(40, 1, 40, 0, pos, quat, new v3d.MeshPhongMaterial({ color: 0xFFFFFF }));
ground.receiveShadow = true;
textureLoader.load('textures/grid.png', function(texture) {
texture.wrapS = v3d.RepeatWrapping;
texture.wrapT = v3d.RepeatWrapping;
texture.repeat.set(40, 40);
ground.material.map = texture;
ground.material.needsUpdate = true;
});
// Tower 1
const towerMass = 1000;
const towerHalfExtents = new v3d.Vector3(2, 5, 2);
pos.set(- 8, 5, 0);
quat.set(0, 0, 0, 1);
createObject(towerMass, towerHalfExtents, pos, quat, createMaterial(0xB03014));
// Tower 2
pos.set(8, 5, 0);
quat.set(0, 0, 0, 1);
createObject(towerMass, towerHalfExtents, pos, quat, createMaterial(0xB03214));
//Bridge
const bridgeMass = 100;
const bridgeHalfExtents = new v3d.Vector3(7, 0.2, 1.5);
pos.set(0, 10.2, 0);
quat.set(0, 0, 0, 1);
createObject(bridgeMass, bridgeHalfExtents, pos, quat, createMaterial(0xB3B865));
// Stones
const stoneMass = 120;
const stoneHalfExtents = new v3d.Vector3(1, 2, 0.15);
const numStones = 8;
quat.set(0, 0, 0, 1);
for (let i = 0; i < numStones; i++) {
pos.set(0, 2, 15 * (0.5 - i / (numStones + 1)));
createObject(stoneMass, stoneHalfExtents, pos, quat, createMaterial(0xB0B0B0));
}
// Mountain
const mountainMass = 860;
const mountainHalfExtents = new v3d.Vector3(4, 5, 4);
pos.set(5, mountainHalfExtents.y * 0.5, -7);
quat.set(0, 0, 0, 1);
const mountainPoints = [];
mountainPoints.push(new v3d.Vector3(mountainHalfExtents.x, - mountainHalfExtents.y, mountainHalfExtents.z));
mountainPoints.push(new v3d.Vector3(-mountainHalfExtents.x, - mountainHalfExtents.y, mountainHalfExtents.z));
mountainPoints.push(new v3d.Vector3(mountainHalfExtents.x, - mountainHalfExtents.y, - mountainHalfExtents.z));
mountainPoints.push(new v3d.Vector3(-mountainHalfExtents.x, - mountainHalfExtents.y, - mountainHalfExtents.z));
mountainPoints.push(new v3d.Vector3(0, mountainHalfExtents.y, 0));
const mountain = new v3d.Mesh(new ConvexGeometry(mountainPoints), createMaterial(0xB03814));
mountain.position.copy(pos);
mountain.quaternion.copy(quat);
convexBreaker.prepareBreakableObject(mountain, mountainMass, new v3d.Vector3(), new v3d.Vector3(), true);
createDebrisFromBreakableObject(mountain);
}
function createParalellepipedWithPhysics(sx, sy, sz, mass, pos, quat, material) {
const object = new v3d.Mesh(new v3d.BoxGeometry(sx, sy, sz, 1, 1, 1), material);
const shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
shape.setMargin(margin);
createRigidBody(object, shape, mass, pos, quat);
return object;
}
function createDebrisFromBreakableObject(object) {
object.castShadow = true;
object.receiveShadow = true;
const shape = createConvexHullPhysicsShape(object.geometry.attributes.position.array);
shape.setMargin(margin);
const body = createRigidBody(object, shape, object.userData.mass, null, null, object.userData.velocity, object.userData.angularVelocity);
// Set pointer back to the three object only in the debris objects
const btVecUserData = new Ammo.btVector3(0, 0, 0);
btVecUserData.threeObject = object;
body.setUserPointer(btVecUserData);
}
function removeDebris(object) {
scene.remove(object);
physicsWorld.removeRigidBody(object.userData.physicsBody);
}
function createConvexHullPhysicsShape(coords) {
const shape = new Ammo.btConvexHullShape();
for (let i = 0, il = coords.length; i < il; i += 3) {
tempBtVec3_1.setValue(coords[i], coords[i + 1], coords[i + 2]);
const lastOne = (i >= (il - 3));
shape.addPoint(tempBtVec3_1, lastOne);
}
return shape;
}
function createRigidBody(object, physicsShape, mass, pos, quat, vel, angVel) {
if (pos) {
object.position.copy(pos);
} else {
pos = object.position;
}
if (quat) {
object.quaternion.copy(quat);
} else {
quat = object.quaternion;
}
const transform = new Ammo.btTransform();
transform.setIdentity();
transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
transform.setRotation(new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w));
const motionState = new Ammo.btDefaultMotionState(transform);
const localInertia = new Ammo.btVector3(0, 0, 0);
physicsShape.calculateLocalInertia(mass, localInertia);
const rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, physicsShape, localInertia);
const body = new Ammo.btRigidBody(rbInfo);
body.setFriction(0.5);
if (vel) {
body.setLinearVelocity(new Ammo.btVector3(vel.x, vel.y, vel.z));
}
if (angVel) {
body.setAngularVelocity(new Ammo.btVector3(angVel.x, angVel.y, angVel.z));
}
object.userData.physicsBody = body;
object.userData.collided = false;
scene.add(object);
if (mass > 0) {
rigidBodies.push(object);
// Disable deactivation
body.setActivationState(4);
}
physicsWorld.addRigidBody(body);
return body;
}
function createRandomColor() {
return Math.floor(Math.random() * (1 << 24));
}
function createMaterial(color) {
color = color || createRandomColor();
return new v3d.MeshPhongMaterial({ color: color });
}
function initInput() {
window.addEventListener('pointerdown', function(event) {
mouseCoords.set(
(event.clientX / window.innerWidth) * 2 - 1,
- (event.clientY / window.innerHeight) * 2 + 1
);
raycaster.setFromCamera(mouseCoords, camera);
// Creates a ball and throws it
const ballMass = 35;
const ballRadius = 0.4;
const ball = new v3d.Mesh(new v3d.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>