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493 lines
13 KiB
493 lines
13 KiB
<html lang="en">
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<head>
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<title>Amjs softbody rope demo</title>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
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<style>
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body {
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color: #61443e;
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font-family:Monospace;
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font-size:13px;
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text-align:center;
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background-color: #bfd1e5;
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margin: 0px;
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overflow: hidden;
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}
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#info {
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position: absolute;
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top: 0px; width: 100%;
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padding: 5px;
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}
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a { color: #a06851; }
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</style>
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</head>
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<body>
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<div id="info">Ammo.js physics soft body rope demo<br>Press Q or A to move the arm.</div>
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<div id="container"><br /><br /><br /><br /><br />Loading...</div>
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<script src="../build/three.js"></script>
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<script src="js/libs/ammo.js"></script>
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<script src="js/controls/OrbitControls.js"></script>
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<script src="js/WebGL.js"></script>
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<script src="js/libs/stats.min.js"></script>
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<script>
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// Detects webgl
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if ( WEBGL.isWebGLAvailable() === false ) {
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document.body.appendChild( WEBGL.getWebGLErrorMessage() );
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document.getElementById( 'container' ).innerHTML = "";
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}
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// Graphics variables
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var container, stats;
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var camera, controls, scene, renderer;
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var textureLoader;
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var clock = new THREE.Clock();
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// Physics variables
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var gravityConstant = - 9.8;
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var collisionConfiguration;
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var dispatcher;
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var broadphase;
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var solver;
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var softBodySolver;
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var physicsWorld;
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var rigidBodies = [];
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var margin = 0.05;
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var hinge;
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var rope;
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var transformAux1 = new Ammo.btTransform();
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var armMovement = 0;
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init();
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animate();
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function init() {
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initGraphics();
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initPhysics();
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createObjects();
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initInput();
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}
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function initGraphics() {
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container = document.getElementById( 'container' );
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camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 2000 );
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scene = new THREE.Scene();
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scene.background = new THREE.Color( 0xbfd1e5 );
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camera.position.set( - 7, 5, 8 );
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controls = new THREE.OrbitControls( camera );
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controls.target.set( 0, 2, 0 );
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controls.update();
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renderer = new THREE.WebGLRenderer();
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renderer.setPixelRatio( window.devicePixelRatio );
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renderer.setSize( window.innerWidth, window.innerHeight );
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renderer.shadowMap.enabled = true;
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textureLoader = new THREE.TextureLoader();
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var ambientLight = new THREE.AmbientLight( 0x404040 );
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scene.add( ambientLight );
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var light = new THREE.DirectionalLight( 0xffffff, 1 );
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light.position.set( - 10, 10, 5 );
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light.castShadow = true;
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var d = 10;
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light.shadow.camera.left = - d;
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light.shadow.camera.right = d;
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light.shadow.camera.top = d;
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light.shadow.camera.bottom = - d;
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light.shadow.camera.near = 2;
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light.shadow.camera.far = 50;
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light.shadow.mapSize.x = 1024;
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light.shadow.mapSize.y = 1024;
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scene.add( light );
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container.innerHTML = "";
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container.appendChild( renderer.domElement );
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stats = new Stats();
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stats.domElement.style.position = 'absolute';
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stats.domElement.style.top = '0px';
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container.appendChild( stats.domElement );
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//
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window.addEventListener( 'resize', onWindowResize, false );
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}
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function initPhysics() {
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// Physics configuration
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collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
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dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration );
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broadphase = new Ammo.btDbvtBroadphase();
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solver = new Ammo.btSequentialImpulseConstraintSolver();
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softBodySolver = new Ammo.btDefaultSoftBodySolver();
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physicsWorld = new Ammo.btSoftRigidDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration, softBodySolver );
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physicsWorld.setGravity( new Ammo.btVector3( 0, gravityConstant, 0 ) );
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physicsWorld.getWorldInfo().set_m_gravity( new Ammo.btVector3( 0, gravityConstant, 0 ) );
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}
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function createObjects() {
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var pos = new THREE.Vector3();
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var quat = new THREE.Quaternion();
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// Ground
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pos.set( 0, - 0.5, 0 );
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quat.set( 0, 0, 0, 1 );
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var ground = createParalellepiped( 40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
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ground.castShadow = true;
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ground.receiveShadow = true;
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textureLoader.load( "textures/grid.png", function ( texture ) {
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texture.wrapS = THREE.RepeatWrapping;
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texture.wrapT = THREE.RepeatWrapping;
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texture.repeat.set( 40, 40 );
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ground.material.map = texture;
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ground.material.needsUpdate = true;
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} );
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// Ball
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var ballMass = 1.2;
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var ballRadius = 0.6;
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var ball = new THREE.Mesh( new THREE.SphereBufferGeometry( ballRadius, 20, 20 ), new THREE.MeshPhongMaterial( { color: 0x202020 } ) );
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ball.castShadow = true;
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ball.receiveShadow = true;
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var ballShape = new Ammo.btSphereShape( ballRadius );
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ballShape.setMargin( margin );
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pos.set( - 3, 2, 0 );
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quat.set( 0, 0, 0, 1 );
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createRigidBody( ball, ballShape, ballMass, pos, quat );
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ball.userData.physicsBody.setFriction( 0.5 );
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// Wall
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var brickMass = 0.5;
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var brickLength = 1.2;
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var brickDepth = 0.6;
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var brickHeight = brickLength * 0.5;
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var numBricksLength = 6;
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var numBricksHeight = 8;
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var z0 = - numBricksLength * brickLength * 0.5;
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pos.set( 0, brickHeight * 0.5, z0 );
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quat.set( 0, 0, 0, 1 );
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for ( var j = 0; j < numBricksHeight; j ++ ) {
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var oddRow = ( j % 2 ) == 1;
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pos.z = z0;
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if ( oddRow ) {
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pos.z -= 0.25 * brickLength;
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}
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var nRow = oddRow ? numBricksLength + 1 : numBricksLength;
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for ( var i = 0; i < nRow; i ++ ) {
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var brickLengthCurrent = brickLength;
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var brickMassCurrent = brickMass;
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if ( oddRow && ( i == 0 || i == nRow - 1 ) ) {
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brickLengthCurrent *= 0.5;
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brickMassCurrent *= 0.5;
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}
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var brick = createParalellepiped( brickDepth, brickHeight, brickLengthCurrent, brickMassCurrent, pos, quat, createMaterial() );
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brick.castShadow = true;
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brick.receiveShadow = true;
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if ( oddRow && ( i == 0 || i == nRow - 2 ) ) {
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pos.z += 0.75 * brickLength;
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} else {
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pos.z += brickLength;
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}
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}
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pos.y += brickHeight;
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}
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// The rope
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// Rope graphic object
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var ropeNumSegments = 10;
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var ropeLength = 4;
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var ropeMass = 3;
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var ropePos = ball.position.clone();
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ropePos.y += ballRadius;
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var segmentLength = ropeLength / ropeNumSegments;
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var ropeGeometry = new THREE.BufferGeometry();
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var ropeMaterial = new THREE.LineBasicMaterial( { color: 0x000000 } );
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var ropePositions = [];
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var ropeIndices = [];
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for ( var i = 0; i < ropeNumSegments + 1; i ++ ) {
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ropePositions.push( ropePos.x, ropePos.y + i * segmentLength, ropePos.z );
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}
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for ( var i = 0; i < ropeNumSegments; i ++ ) {
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ropeIndices.push( i, i + 1 );
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}
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ropeGeometry.setIndex( new THREE.BufferAttribute( new Uint16Array( ropeIndices ), 1 ) );
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ropeGeometry.addAttribute( 'position', new THREE.BufferAttribute( new Float32Array( ropePositions ), 3 ) );
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ropeGeometry.computeBoundingSphere();
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rope = new THREE.LineSegments( ropeGeometry, ropeMaterial );
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rope.castShadow = true;
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rope.receiveShadow = true;
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scene.add( rope );
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// Rope physic object
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var softBodyHelpers = new Ammo.btSoftBodyHelpers();
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var ropeStart = new Ammo.btVector3( ropePos.x, ropePos.y, ropePos.z );
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var ropeEnd = new Ammo.btVector3( ropePos.x, ropePos.y + ropeLength, ropePos.z );
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var ropeSoftBody = softBodyHelpers.CreateRope( physicsWorld.getWorldInfo(), ropeStart, ropeEnd, ropeNumSegments - 1, 0 );
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var sbConfig = ropeSoftBody.get_m_cfg();
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sbConfig.set_viterations( 10 );
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sbConfig.set_piterations( 10 );
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ropeSoftBody.setTotalMass( ropeMass, false );
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Ammo.castObject( ropeSoftBody, Ammo.btCollisionObject ).getCollisionShape().setMargin( margin * 3 );
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physicsWorld.addSoftBody( ropeSoftBody, 1, - 1 );
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rope.userData.physicsBody = ropeSoftBody;
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// Disable deactivation
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ropeSoftBody.setActivationState( 4 );
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// The base
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var armMass = 2;
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var armLength = 3;
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var pylonHeight = ropePos.y + ropeLength;
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var baseMaterial = new THREE.MeshPhongMaterial( { color: 0x606060 } );
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pos.set( ropePos.x, 0.1, ropePos.z - armLength );
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quat.set( 0, 0, 0, 1 );
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var base = createParalellepiped( 1, 0.2, 1, 0, pos, quat, baseMaterial );
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base.castShadow = true;
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base.receiveShadow = true;
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pos.set( ropePos.x, 0.5 * pylonHeight, ropePos.z - armLength );
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var pylon = createParalellepiped( 0.4, pylonHeight, 0.4, 0, pos, quat, baseMaterial );
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pylon.castShadow = true;
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pylon.receiveShadow = true;
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pos.set( ropePos.x, pylonHeight + 0.2, ropePos.z - 0.5 * armLength );
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var arm = createParalellepiped( 0.4, 0.4, armLength + 0.4, armMass, pos, quat, baseMaterial );
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arm.castShadow = true;
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arm.receiveShadow = true;
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// Glue the rope extremes to the ball and the arm
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var influence = 1;
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ropeSoftBody.appendAnchor( 0, ball.userData.physicsBody, true, influence );
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ropeSoftBody.appendAnchor( ropeNumSegments, arm.userData.physicsBody, true, influence );
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// Hinge constraint to move the arm
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var pivotA = new Ammo.btVector3( 0, pylonHeight * 0.5, 0 );
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var pivotB = new Ammo.btVector3( 0, - 0.2, - armLength * 0.5 );
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var axis = new Ammo.btVector3( 0, 1, 0 );
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hinge = new Ammo.btHingeConstraint( pylon.userData.physicsBody, arm.userData.physicsBody, pivotA, pivotB, axis, axis, true );
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physicsWorld.addConstraint( hinge, true );
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}
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function createParalellepiped( sx, sy, sz, mass, pos, quat, material ) {
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var threeObject = new THREE.Mesh( new THREE.BoxBufferGeometry( sx, sy, sz, 1, 1, 1 ), material );
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var shape = new Ammo.btBoxShape( new Ammo.btVector3( sx * 0.5, sy * 0.5, sz * 0.5 ) );
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shape.setMargin( margin );
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createRigidBody( threeObject, shape, mass, pos, quat );
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return threeObject;
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}
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function createRigidBody( threeObject, physicsShape, mass, pos, quat ) {
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threeObject.position.copy( pos );
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threeObject.quaternion.copy( quat );
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var transform = new Ammo.btTransform();
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transform.setIdentity();
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transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
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transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
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var motionState = new Ammo.btDefaultMotionState( transform );
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var localInertia = new Ammo.btVector3( 0, 0, 0 );
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physicsShape.calculateLocalInertia( mass, localInertia );
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var rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, physicsShape, localInertia );
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var body = new Ammo.btRigidBody( rbInfo );
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threeObject.userData.physicsBody = body;
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scene.add( threeObject );
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if ( mass > 0 ) {
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rigidBodies.push( threeObject );
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// Disable deactivation
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body.setActivationState( 4 );
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}
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physicsWorld.addRigidBody( body );
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}
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function createRandomColor() {
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return Math.floor( Math.random() * ( 1 << 24 ) );
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}
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function createMaterial() {
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return new THREE.MeshPhongMaterial( { color: createRandomColor() } );
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}
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function initInput() {
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window.addEventListener( 'keydown', function ( event ) {
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switch ( event.keyCode ) {
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// Q
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case 81:
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armMovement = 1;
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break;
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// A
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case 65:
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armMovement = - 1;
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break;
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}
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}, false );
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window.addEventListener( 'keyup', function () {
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armMovement = 0;
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}, false );
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}
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function onWindowResize() {
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camera.aspect = window.innerWidth / window.innerHeight;
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camera.updateProjectionMatrix();
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renderer.setSize( window.innerWidth, window.innerHeight );
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}
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function animate() {
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requestAnimationFrame( animate );
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render();
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stats.update();
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}
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function render() {
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var deltaTime = clock.getDelta();
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updatePhysics( deltaTime );
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renderer.render( scene, camera );
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}
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function updatePhysics( deltaTime ) {
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// Hinge control
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hinge.enableAngularMotor( true, 1.5 * armMovement, 50 );
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// Step world
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physicsWorld.stepSimulation( deltaTime, 10 );
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// Update rope
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var softBody = rope.userData.physicsBody;
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var ropePositions = rope.geometry.attributes.position.array;
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var numVerts = ropePositions.length / 3;
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var nodes = softBody.get_m_nodes();
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var indexFloat = 0;
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for ( var i = 0; i < numVerts; i ++ ) {
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var node = nodes.at( i );
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var nodePos = node.get_m_x();
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ropePositions[ indexFloat ++ ] = nodePos.x();
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ropePositions[ indexFloat ++ ] = nodePos.y();
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ropePositions[ indexFloat ++ ] = nodePos.z();
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}
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rope.geometry.attributes.position.needsUpdate = true;
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// Update rigid bodies
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for ( var i = 0, il = rigidBodies.length; i < il; i ++ ) {
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var objThree = rigidBodies[ i ];
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var objPhys = objThree.userData.physicsBody;
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var ms = objPhys.getMotionState();
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if ( ms ) {
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ms.getWorldTransform( transformAux1 );
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var p = transformAux1.getOrigin();
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var q = transformAux1.getRotation();
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objThree.position.set( p.x(), p.y(), p.z() );
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objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );
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}
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}
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}
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</script>
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</body>
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</html>
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