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physics_ammo_cloth.html
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<html lang="en">
<head>
<title>Ammo.js softbody cloth demo</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">Ammo.js physics soft body cloth demo<br>Press Q or A to move the arm.</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';
// Graphics variables
let container, stats;
let camera, controls, scene, renderer;
let textureLoader;
const clock = new v3d.Clock();
// Physics variables
const gravityConstant = -9.8;
let physicsWorld;
const rigidBodies = [];
const margin = 0.05;
let hinge;
let cloth;
let transformAux1;
let armMovement = 0;
Ammo().then(function(AmmoLib) {
Ammo = AmmoLib;
init();
animate();
});
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(- 12, 7, 4);
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(0x404040);
scene.add(ambientLight);
const light = new v3d.DirectionalLight(0xffffff, 1);
light.position.set(- 7, 10, 15);
light.castShadow = true;
const d = 10;
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;
light.shadow.bias = -0.003;
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
const collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
const dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
const broadphase = new Ammo.btDbvtBroadphase();
const solver = new Ammo.btSequentialImpulseConstraintSolver();
const softBodySolver = new Ammo.btDefaultSoftBodySolver();
physicsWorld = new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration, softBodySolver);
physicsWorld.setGravity(new Ammo.btVector3(0, gravityConstant, 0));
physicsWorld.getWorldInfo().set_m_gravity(new Ammo.btVector3(0, gravityConstant, 0));
transformAux1 = new Ammo.btTransform();
}
function createObjects() {
const pos = new v3d.Vector3();
const quat = new v3d.Quaternion();
// Ground
pos.set(0, -0.5, 0);
quat.set(0, 0, 0, 1);
const ground = createParalellepiped(40, 1, 40, 0, pos, quat, new v3d.MeshPhongMaterial({ color: 0xFFFFFF }));
ground.castShadow = true;
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;
});
// Wall
const brickMass = 0.5;
const brickLength = 1.2;
const brickDepth = 0.6;
const brickHeight = brickLength * 0.5;
const numBricksLength = 6;
const numBricksHeight = 8;
const z0 = -numBricksLength * brickLength * 0.5;
pos.set(0, brickHeight * 0.5, z0);
quat.set(0, 0, 0, 1);
for (let j = 0; j < numBricksHeight; j ++) {
const oddRow = (j % 2) == 1;
pos.z = z0;
if (oddRow) {
pos.z -= 0.25 * brickLength;
}
const nRow = oddRow ? numBricksLength + 1 : numBricksLength;
for (let i = 0; i < nRow; i++) {
let brickLengthCurrent = brickLength;
let brickMassCurrent = brickMass;
if (oddRow && (i == 0 || i == nRow - 1)) {
brickLengthCurrent *= 0.5;
brickMassCurrent *= 0.5;
}
const brick = createParalellepiped(brickDepth, brickHeight, brickLengthCurrent, brickMassCurrent, pos, quat, createMaterial());
brick.castShadow = true;
brick.receiveShadow = true;
if (oddRow && (i == 0 || i == nRow - 2)) {
pos.z += 0.75 * brickLength;
} else {
pos.z += brickLength;
}
}
pos.y += brickHeight;
}
// The cloth
// Cloth graphic object
const clothWidth = 4;
const clothHeight = 3;
const clothNumSegmentsZ = clothWidth * 5;
const clothNumSegmentsY = clothHeight * 5;
const clothPos = new v3d.Vector3(- 3, 3, 2);
const clothGeometry = new v3d.PlaneGeometry(clothWidth, clothHeight, clothNumSegmentsZ, clothNumSegmentsY);
clothGeometry.rotateY(Math.PI * 0.5);
clothGeometry.translate(clothPos.x, clothPos.y + clothHeight * 0.5, clothPos.z - clothWidth * 0.5);
const clothMaterial = new v3d.MeshLambertMaterial({ color: 0xFFFFFF, side: v3d.DoubleSide });
cloth = new v3d.Mesh(clothGeometry, clothMaterial);
cloth.castShadow = true;
cloth.receiveShadow = true;
scene.add(cloth);
textureLoader.load('textures/grid.png', function(texture) {
texture.wrapS = v3d.RepeatWrapping;
texture.wrapT = v3d.RepeatWrapping;
texture.repeat.set(clothNumSegmentsZ, clothNumSegmentsY);
cloth.material.map = texture;
cloth.material.needsUpdate = true;
});
// Cloth physic object
const softBodyHelpers = new Ammo.btSoftBodyHelpers();
const clothCorner00 = new Ammo.btVector3(clothPos.x, clothPos.y + clothHeight, clothPos.z);
const clothCorner01 = new Ammo.btVector3(clothPos.x, clothPos.y + clothHeight, clothPos.z - clothWidth);
const clothCorner10 = new Ammo.btVector3(clothPos.x, clothPos.y, clothPos.z);
const clothCorner11 = new Ammo.btVector3(clothPos.x, clothPos.y, clothPos.z - clothWidth);
const clothSoftBody = softBodyHelpers.CreatePatch(physicsWorld.getWorldInfo(), clothCorner00, clothCorner01, clothCorner10, clothCorner11, clothNumSegmentsZ + 1, clothNumSegmentsY + 1, 0, true);
const sbConfig = clothSoftBody.get_m_cfg();
sbConfig.set_viterations(10);
sbConfig.set_piterations(10);
clothSoftBody.setTotalMass(0.9, false);
Ammo.castObject(clothSoftBody, Ammo.btCollisionObject).getCollisionShape().setMargin(margin * 3);
physicsWorld.addSoftBody(clothSoftBody, 1, -1);
cloth.userData.physicsBody = clothSoftBody;
// Disable deactivation
clothSoftBody.setActivationState(4);
// The base
const armMass = 2;
const armLength = 3 + clothWidth;
const pylonHeight = clothPos.y + clothHeight;
const baseMaterial = new v3d.MeshPhongMaterial({ color: 0x606060 });
pos.set(clothPos.x, 0.1, clothPos.z - armLength);
quat.set(0, 0, 0, 1);
const base = createParalellepiped(1, 0.2, 1, 0, pos, quat, baseMaterial);
base.castShadow = true;
base.receiveShadow = true;
pos.set(clothPos.x, 0.5 * pylonHeight, clothPos.z - armLength);
const pylon = createParalellepiped(0.4, pylonHeight, 0.4, 0, pos, quat, baseMaterial);
pylon.castShadow = true;
pylon.receiveShadow = true;
pos.set(clothPos.x, pylonHeight + 0.2, clothPos.z - 0.5 * armLength);
const arm = createParalellepiped(0.4, 0.4, armLength + 0.4, armMass, pos, quat, baseMaterial);
arm.castShadow = true;
arm.receiveShadow = true;
// Glue the cloth to the arm
const influence = 0.5;
clothSoftBody.appendAnchor(0, arm.userData.physicsBody, false, influence);
clothSoftBody.appendAnchor(clothNumSegmentsZ, arm.userData.physicsBody, false, influence);
// Hinge constraint to move the arm
const pivotA = new Ammo.btVector3(0, pylonHeight * 0.5, 0);
const pivotB = new Ammo.btVector3(0, -0.2, - armLength * 0.5);
const axis = new Ammo.btVector3(0, 1, 0);
hinge = new Ammo.btHingeConstraint(pylon.userData.physicsBody, arm.userData.physicsBody, pivotA, pivotB, axis, axis, true);
physicsWorld.addConstraint(hinge, true);
}
function createParalellepiped(sx, sy, sz, mass, pos, quat, material) {
const threeObject = 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(threeObject, shape, mass, pos, quat);
return threeObject;
}
function createRigidBody(threeObject, physicsShape, mass, pos, quat) {
threeObject.position.copy(pos);
threeObject.quaternion.copy(quat);
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);
threeObject.userData.physicsBody = body;
scene.add(threeObject);
if (mass > 0) {
rigidBodies.push(threeObject);
// Disable deactivation
body.setActivationState(4);
}
physicsWorld.addRigidBody(body);
}
function createRandomColor() {
return Math.floor(Math.random() * (1 << 24));
}
function createMaterial() {
return new v3d.MeshPhongMaterial({ color: createRandomColor() });
}
function initInput() {
window.addEventListener('keydown', function(event) {
switch (event.keyCode) {
// Q
case 81:
armMovement = 1;
break;
// A
case 65:
armMovement = -1;
break;
}
});
window.addEventListener('keyup', function() {
armMovement = 0;
});
}
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) {
// Hinge control
hinge.enableAngularMotor(true, 0.8 * armMovement, 50);
// Step world
physicsWorld.stepSimulation(deltaTime, 10);
// Update cloth
const softBody = cloth.userData.physicsBody;
const clothPositions = cloth.geometry.attributes.position.array;
const numVerts = clothPositions.length / 3;
const nodes = softBody.get_m_nodes();
let indexFloat = 0;
for (let i = 0; i < numVerts; i++) {
const node = nodes.at(i);
const nodePos = node.get_m_x();
clothPositions[indexFloat ++] = nodePos.x();
clothPositions[indexFloat ++] = nodePos.y();
clothPositions[indexFloat ++] = nodePos.z();
}
cloth.geometry.computeVertexNormals();
cloth.geometry.attributes.position.needsUpdate = true;
cloth.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>