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physics_ammo_volume.html
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physics_ammo_volume.html
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<html lang="en">
<head>
<title>Ammo.js softbody volume 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 volume demo<br/>
Click to throw a ball
</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/es-module-shims@1.3.6/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 * as BufferGeometryUtils from 'v3d/addons/utils/BufferGeometryUtils.js';
// Graphics variables
let container, stats;
let camera, controls, scene, renderer;
let textureLoader;
const clock = new v3d.Clock();
let clickRequest = false;
const mouseCoords = new v3d.Vector2();
const raycaster = new v3d.Raycaster();
const ballMaterial = new v3d.MeshPhongMaterial({ color: 0x202020 });
const pos = new v3d.Vector3();
const quat = new v3d.Quaternion();
// Physics variables
const gravityConstant = -9.8;
let physicsWorld;
const rigidBodies = [];
const softBodies = [];
const margin = 0.05;
let transformAux1;
let softBodyHelpers;
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(- 7, 5, 8);
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(- 10, 10, 5);
light.castShadow = true;
const d = 20;
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
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();
softBodyHelpers = new Ammo.btSoftBodyHelpers();
}
function createObjects() {
// 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;
});
// Create soft volumes
const volumeMass = 15;
const sphereGeometry = new v3d.SphereGeometry(1.5, 40, 25);
sphereGeometry.translate(5, 5, 0);
createSoftVolume(sphereGeometry, volumeMass, 250);
const boxGeometry = new v3d.BoxGeometry(1, 1, 5, 4, 4, 20);
boxGeometry.translate(- 2, 5, 0);
createSoftVolume(boxGeometry, volumeMass, 120);
// Ramp
pos.set(3, 1, 0);
quat.setFromAxisAngle(new v3d.Vector3(0, 0, 1), 30 * Math.PI / 180);
const obstacle = createParalellepiped(10, 1, 4, 0, pos, quat, new v3d.MeshPhongMaterial({ color: 0x606060 }));
obstacle.castShadow = true;
obstacle.receiveShadow = true;
}
function processGeometry(bufGeometry) {
// Ony consider the position values when merging the vertices
const posOnlyBufGeometry = new v3d.BufferGeometry();
posOnlyBufGeometry.setAttribute('position', bufGeometry.getAttribute('position'));
posOnlyBufGeometry.setIndex(bufGeometry.getIndex());
// Merge the vertices so the triangle soup is converted to indexed triangles
const indexedBufferGeom = BufferGeometryUtils.mergeVertices(posOnlyBufGeometry);
// Create index arrays mapping the indexed vertices to bufGeometry vertices
mapIndices(bufGeometry, indexedBufferGeom);
}
function isEqual(x1, y1, z1, x2, y2, z2) {
const delta = 0.000001;
return Math.abs(x2 - x1) < delta &&
Math.abs(y2 - y1) < delta &&
Math.abs(z2 - z1) < delta;
}
function mapIndices(bufGeometry, indexedBufferGeom) {
// Creates ammoVertices, ammoIndices and ammoIndexAssociation in bufGeometry
const vertices = bufGeometry.attributes.position.array;
const idxVertices = indexedBufferGeom.attributes.position.array;
const indices = indexedBufferGeom.index.array;
const numIdxVertices = idxVertices.length / 3;
const numVertices = vertices.length / 3;
bufGeometry.ammoVertices = idxVertices;
bufGeometry.ammoIndices = indices;
bufGeometry.ammoIndexAssociation = [];
for (let i = 0; i < numIdxVertices; i++) {
const association = [];
bufGeometry.ammoIndexAssociation.push(association);
const i3 = i * 3;
for (let j = 0; j < numVertices; j ++) {
const j3 = j * 3;
if (isEqual(idxVertices[i3], idxVertices[i3 + 1], idxVertices[i3 + 2],
vertices[j3], vertices[j3 + 1], vertices[j3 + 2])) {
association.push(j3);
}
}
}
}
function createSoftVolume(bufferGeom, mass, pressure) {
processGeometry(bufferGeom);
const volume = new v3d.Mesh(bufferGeom, new v3d.MeshPhongMaterial({ color: 0xFFFFFF }));
volume.castShadow = true;
volume.receiveShadow = true;
volume.frustumCulled = false;
scene.add(volume);
textureLoader.load('textures/colors.png', function(texture) {
volume.material.map = texture;
volume.material.needsUpdate = true;
});
// Volume physic object
const volumeSoftBody = softBodyHelpers.CreateFromTriMesh(
physicsWorld.getWorldInfo(),
bufferGeom.ammoVertices,
bufferGeom.ammoIndices,
bufferGeom.ammoIndices.length / 3,
true);
const sbConfig = volumeSoftBody.get_m_cfg();
sbConfig.set_viterations(40);
sbConfig.set_piterations(40);
// Soft-soft and soft-rigid collisions
sbConfig.set_collisions(0x11);
// Friction
sbConfig.set_kDF(0.1);
// Damping
sbConfig.set_kDP(0.01);
// Pressure
sbConfig.set_kPR(pressure);
// Stiffness
volumeSoftBody.get_m_materials().at(0).set_m_kLST(0.9);
volumeSoftBody.get_m_materials().at(0).set_m_kAST(0.9);
volumeSoftBody.setTotalMass(mass, false);
Ammo.castObject(volumeSoftBody, Ammo.btCollisionObject).getCollisionShape().setMargin(margin);
physicsWorld.addSoftBody(volumeSoftBody, 1, -1);
volume.userData.physicsBody = volumeSoftBody;
// Disable deactivation
volumeSoftBody.setActivationState(4);
softBodies.push(volume);
}
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);
return body;
}
function initInput() {
window.addEventListener('pointerdown', function(event) {
if (!clickRequest) {
mouseCoords.set(
(event.clientX / window.innerWidth) * 2 - 1,
- (event.clientY / window.innerHeight) * 2 + 1
);
clickRequest = true;
}
});
}
function processClick() {
if (clickRequest) {
raycaster.setFromCamera(mouseCoords, camera);
// Creates a ball
const ballMass = 3;
const ballRadius = 0.4;
const ball = new v3d.Mesh(new v3d.SphereGeometry(ballRadius, 18, 16), 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);
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>