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physijs_worker.js
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physijs_worker.js
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'use strict';
var
transferableMessage = self.webkitPostMessage || self.postMessage,
// enum
MESSAGE_TYPES = {
WORLDREPORT: 0,
COLLISIONREPORT: 1,
VEHICLEREPORT: 2,
CONSTRAINTREPORT: 3
},
// temp variables
_object,
_vector,
_transform,
// functions
public_functions = {},
getShapeFromCache,
setShapeCache,
createShape,
reportWorld,
reportVehicles,
reportCollisions,
reportConstraints,
// world variables
fixedTimeStep, // used when calling stepSimulation
rateLimit, // sets whether or not to sync the simulation rate with fixedTimeStep
last_simulation_time,
last_simulation_duration = 0,
world,
transform,
_vec3_1,
_vec3_2,
_vec3_3,
_quat,
// private cache
_objects = {},
_vehicles = {},
_constraints = {},
_materials = {},
_objects_ammo = {},
_num_objects = 0,
_num_wheels = 0,
_num_constraints = 0,
_object_shapes = {},
// The following objects are to track objects that ammo.js doesn't clean
// up. All are cleaned up when they're corresponding body is destroyed.
// Unfortunately, it's very difficult to get at these objects from the
// body, so we have to track them ourselves.
_motion_states = {},
// Don't need to worry about it for cached shapes.
_noncached_shapes = {},
// A body with a compound shape always has a regular shape as well, so we
// have track them separately.
_compound_shapes = {},
// object reporting
REPORT_CHUNKSIZE, // report array is increased in increments of this chunk size
WORLDREPORT_ITEMSIZE = 14, // how many float values each reported item needs
worldreport,
COLLISIONREPORT_ITEMSIZE = 5, // one float for each object id, and a Vec3 contact normal
collisionreport,
VEHICLEREPORT_ITEMSIZE = 9, // vehicle id, wheel index, 3 for position, 4 for rotation
vehiclereport,
CONSTRAINTREPORT_ITEMSIZE = 6, // constraint id, offset object, offset, applied impulse
constraintreport;
var ab = new ArrayBuffer( 1 );
transferableMessage( ab, [ab] );
var SUPPORT_TRANSFERABLE = ( ab.byteLength === 0 );
getShapeFromCache = function ( cache_key ) {
if ( _object_shapes[ cache_key ] !== undefined ) {
return _object_shapes[ cache_key ];
}
return null;
};
setShapeCache = function ( cache_key, shape ) {
_object_shapes[ cache_key ] = shape;
}
createShape = function( description ) {
var cache_key, shape;
_transform.setIdentity();
switch ( description.type ) {
case 'plane':
cache_key = 'plane_' + description.normal.x + '_' + description.normal.y + '_' + description.normal.z;
if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {
_vec3_1.setX(description.normal.x);
_vec3_1.setY(description.normal.y);
_vec3_1.setZ(description.normal.z);
shape = new Ammo.btStaticPlaneShape(_vec3_1, 0 );
setShapeCache( cache_key, shape );
}
break;
case 'box':
cache_key = 'box_' + description.width + '_' + description.height + '_' + description.depth;
if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {
_vec3_1.setX(description.width / 2);
_vec3_1.setY(description.height / 2);
_vec3_1.setZ(description.depth / 2);
shape = new Ammo.btBoxShape(_vec3_1);
setShapeCache( cache_key, shape );
}
break;
case 'sphere':
cache_key = 'sphere_' + description.radius;
if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {
shape = new Ammo.btSphereShape( description.radius );
setShapeCache( cache_key, shape );
}
break;
case 'cylinder':
cache_key = 'cylinder_' + description.width + '_' + description.height + '_' + description.depth;
if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {
_vec3_1.setX(description.width / 2);
_vec3_1.setY(description.height / 2);
_vec3_1.setZ(description.depth / 2);
shape = new Ammo.btCylinderShape(_vec3_1);
setShapeCache( cache_key, shape );
}
break;
case 'capsule':
cache_key = 'capsule_' + description.radius + '_' + description.height;
if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {
// In Bullet, capsule height excludes the end spheres
shape = new Ammo.btCapsuleShape( description.radius, description.height - 2 * description.radius );
setShapeCache( cache_key, shape );
}
break;
case 'cone':
cache_key = 'cone_' + description.radius + '_' + description.height;
if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {
shape = new Ammo.btConeShape( description.radius, description.height );
setShapeCache( cache_key, shape );
}
break;
case 'concave':
var i, triangle, triangle_mesh = new Ammo.btTriangleMesh;
if (!description.triangles.length) return false
for ( i = 0; i < description.triangles.length; i++ ) {
triangle = description.triangles[i];
_vec3_1.setX(triangle[0].x);
_vec3_1.setY(triangle[0].y);
_vec3_1.setZ(triangle[0].z);
_vec3_2.setX(triangle[1].x);
_vec3_2.setY(triangle[1].y);
_vec3_2.setZ(triangle[1].z);
_vec3_3.setX(triangle[2].x);
_vec3_3.setY(triangle[2].y);
_vec3_3.setZ(triangle[2].z);
triangle_mesh.addTriangle(
_vec3_1,
_vec3_2,
_vec3_3,
true
);
}
shape = new Ammo.btBvhTriangleMeshShape(
triangle_mesh,
true,
true
);
_noncached_shapes[description.id] = shape;
break;
case 'convex':
var i, point, shape = new Ammo.btConvexHullShape;
for ( i = 0; i < description.points.length; i++ ) {
point = description.points[i];
_vec3_1.setX(point.x);
_vec3_1.setY(point.y);
_vec3_1.setZ(point.z);
shape.addPoint(_vec3_1);
}
_noncached_shapes[description.id] = shape;
break;
case 'heightfield':
var ptr = Ammo.allocate(4 * description.xpts * description.ypts, "float", Ammo.ALLOC_NORMAL);
for (var f = 0; f < description.points.length; f++) {
Ammo.setValue(ptr + f, description.points[f] , 'float');
}
shape = new Ammo.btHeightfieldTerrainShape(
description.xpts,
description.ypts,
ptr,
1,
-description.absMaxHeight,
description.absMaxHeight,
2,
0,
false
);
_vec3_1.setX(description.xsize/(description.xpts - 1));
_vec3_1.setY(description.ysize/(description.ypts - 1));
_vec3_1.setZ(1);
shape.setLocalScaling(_vec3_1);
_noncached_shapes[description.id] = shape;
break;
default:
// Not recognized
return;
break;
}
return shape;
};
public_functions.init = function( params ) {
importScripts( params.ammo );
_transform = new Ammo.btTransform;
_vec3_1 = new Ammo.btVector3(0,0,0);
_vec3_2 = new Ammo.btVector3(0,0,0);
_vec3_3 = new Ammo.btVector3(0,0,0);
_quat = new Ammo.btQuaternion(0,0,0,0);
REPORT_CHUNKSIZE = params.reportsize || 50;
if ( SUPPORT_TRANSFERABLE ) {
// Transferable messages are supported, take advantage of them with TypedArrays
worldreport = new Float32Array(2 + REPORT_CHUNKSIZE * WORLDREPORT_ITEMSIZE); // message id + # of objects to report + chunk size * # of values per object
collisionreport = new Float32Array(2 + REPORT_CHUNKSIZE * COLLISIONREPORT_ITEMSIZE); // message id + # of collisions to report + chunk size * # of values per object
vehiclereport = new Float32Array(2 + REPORT_CHUNKSIZE * VEHICLEREPORT_ITEMSIZE); // message id + # of vehicles to report + chunk size * # of values per object
constraintreport = new Float32Array(2 + REPORT_CHUNKSIZE * CONSTRAINTREPORT_ITEMSIZE); // message id + # of constraints to report + chunk size * # of values per object
} else {
// Transferable messages are not supported, send data as normal arrays
worldreport = [];
collisionreport = [];
vehiclereport = [];
constraintreport = [];
}
worldreport[0] = MESSAGE_TYPES.WORLDREPORT;
collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;
vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;
constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;
var collisionConfiguration = new Ammo.btDefaultCollisionConfiguration,
dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration ),
solver = new Ammo.btSequentialImpulseConstraintSolver,
broadphase;
if ( !params.broadphase ) params.broadphase = { type: 'dynamic' };
switch ( params.broadphase.type ) {
case 'sweepprune':
_vec3_1.setX(params.broadphase.aabbmin.x);
_vec3_1.setY(params.broadphase.aabbmin.y);
_vec3_1.setZ(params.broadphase.aabbmin.z);
_vec3_2.setX(params.broadphase.aabbmax.x);
_vec3_2.setY(params.broadphase.aabbmax.y);
_vec3_2.setZ(params.broadphase.aabbmax.z);
broadphase = new Ammo.btAxisSweep3(
_vec3_1,
_vec3_2
);
break;
case 'dynamic':
default:
broadphase = new Ammo.btDbvtBroadphase;
break;
}
world = new Ammo.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
fixedTimeStep = params.fixedTimeStep;
rateLimit = params.rateLimit;
transferableMessage({ cmd: 'worldReady' });
};
public_functions.registerMaterial = function( description ) {
_materials[ description.id ] = description;
};
public_functions.unRegisterMaterial = function( description ) {
delete _materials[ description.id ];
};
public_functions.setFixedTimeStep = function( description ) {
fixedTimeStep = description;
};
public_functions.setGravity = function( description ) {
_vec3_1.setX(description.x);
_vec3_1.setY(description.y);
_vec3_1.setZ(description.z);
world.setGravity(_vec3_1);
};
public_functions.addObject = function( description ) {
var i,
localInertia, shape, motionState, rbInfo, body;
shape = createShape( description );
if (!shape) return
// If there are children then this is a compound shape
if ( description.children ) {
var compound_shape = new Ammo.btCompoundShape, _child;
compound_shape.addChildShape( _transform, shape );
for ( i = 0; i < description.children.length; i++ ) {
_child = description.children[i];
var trans = new Ammo.btTransform;
trans.setIdentity();
_vec3_1.setX(_child.position_offset.x);
_vec3_1.setY(_child.position_offset.y);
_vec3_1.setZ(_child.position_offset.z);
trans.setOrigin(_vec3_1);
_quat.setX(_child.rotation.x);
_quat.setY(_child.rotation.y);
_quat.setZ(_child.rotation.z);
_quat.setW(_child.rotation.w);
trans.setRotation(_quat);
shape = createShape( description.children[i] );
compound_shape.addChildShape( trans, shape );
Ammo.destroy(trans);
}
shape = compound_shape;
_compound_shapes[ description.id ] = shape;
}
_vec3_1.setX(0);
_vec3_1.setY(0);
_vec3_1.setZ(0);
shape.calculateLocalInertia( description.mass, _vec3_1 );
_transform.setIdentity();
_vec3_2.setX(description.position.x);
_vec3_2.setY(description.position.y);
_vec3_2.setZ(description.position.z);
_transform.setOrigin(_vec3_2);
_quat.setX(description.rotation.x);
_quat.setY(description.rotation.y);
_quat.setZ(description.rotation.z);
_quat.setW(description.rotation.w);
_transform.setRotation(_quat);
motionState = new Ammo.btDefaultMotionState( _transform ); // #TODO: btDefaultMotionState supports center of mass offset as second argument - implement
rbInfo = new Ammo.btRigidBodyConstructionInfo( description.mass, motionState, shape, _vec3_1 );
if ( description.materialId !== undefined ) {
rbInfo.set_m_friction( _materials[ description.materialId ].friction );
rbInfo.set_m_restitution( _materials[ description.materialId ].restitution );
}
body = new Ammo.btRigidBody( rbInfo );
Ammo.destroy(rbInfo);
if ( typeof description.collision_flags !== 'undefined' ) {
body.setCollisionFlags( description.collision_flags );
}
world.addRigidBody( body );
body.id = description.id;
_objects[ body.id ] = body;
_motion_states[ body.id ] = motionState;
var ptr = body.a != undefined ? body.a : body.ptr;
_objects_ammo[ptr] = body.id;
_num_objects++;
transferableMessage({ cmd: 'objectReady', params: body.id });
};
public_functions.addVehicle = function( description ) {
var vehicle_tuning = new Ammo.btVehicleTuning(),
vehicle;
vehicle_tuning.set_m_suspensionStiffness( description.suspension_stiffness );
vehicle_tuning.set_m_suspensionCompression( description.suspension_compression );
vehicle_tuning.set_m_suspensionDamping( description.suspension_damping );
vehicle_tuning.set_m_maxSuspensionTravelCm( description.max_suspension_travel );
vehicle_tuning.set_m_maxSuspensionForce( description.max_suspension_force );
vehicle = new Ammo.btRaycastVehicle( vehicle_tuning, _objects[ description.rigidBody ], new Ammo.btDefaultVehicleRaycaster( world ) );
vehicle.tuning = vehicle_tuning;
_objects[ description.rigidBody ].setActivationState( 4 );
vehicle.setCoordinateSystem( 0, 1, 2 );
world.addVehicle( vehicle );
_vehicles[ description.id ] = vehicle;
};
public_functions.removeVehicle = function( description ) {
delete _vehicles[ description.id ];
};
public_functions.addWheel = function( description ) {
if ( _vehicles[description.id] !== undefined ) {
var tuning = _vehicles[description.id].tuning;
if ( description.tuning !== undefined ) {
tuning = new Ammo.btVehicleTuning();
tuning.set_m_suspensionStiffness( description.tuning.suspension_stiffness );
tuning.set_m_suspensionCompression( description.tuning.suspension_compression );
tuning.set_m_suspensionDamping( description.tuning.suspension_damping );
tuning.set_m_maxSuspensionTravelCm( description.tuning.max_suspension_travel );
tuning.set_m_maxSuspensionForce( description.tuning.max_suspension_force );
}
_vec3_1.setX(description.connection_point.x);
_vec3_1.setY(description.connection_point.y);
_vec3_1.setZ(description.connection_point.z);
_vec3_2.setX(description.wheel_direction.x);
_vec3_2.setY(description.wheel_direction.y);
_vec3_2.setZ(description.wheel_direction.z);
_vec3_3.setX(description.wheel_axle.x);
_vec3_3.setY(description.wheel_axle.y);
_vec3_3.setZ(description.wheel_axle.z);
_vehicles[description.id].addWheel(
_vec3_1,
_vec3_2,
_vec3_3,
description.suspension_rest_length,
description.wheel_radius,
tuning,
description.is_front_wheel
);
}
_num_wheels++;
if ( SUPPORT_TRANSFERABLE ) {
vehiclereport = new Float32Array(1 + _num_wheels * VEHICLEREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )
vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;
} else {
vehiclereport = [ MESSAGE_TYPES.VEHICLEREPORT ];
}
};
public_functions.setSteering = function( details ) {
if ( _vehicles[details.id] !== undefined ) {
_vehicles[details.id].setSteeringValue( details.steering, details.wheel );
}
};
public_functions.setBrake = function( details ) {
if ( _vehicles[details.id] !== undefined ) {
_vehicles[details.id].setBrake( details.brake, details.wheel );
}
};
public_functions.applyEngineForce = function( details ) {
if ( _vehicles[details.id] !== undefined ) {
_vehicles[details.id].applyEngineForce( details.force, details.wheel );
}
};
public_functions.removeObject = function( details ) {
world.removeRigidBody( _objects[details.id] );
Ammo.destroy(_objects[details.id]);
Ammo.destroy(_motion_states[details.id]);
if (_compound_shapes[details.id]) Ammo.destroy(_compound_shapes[details.id]);
if (_noncached_shapes[details.id]) Ammo.destroy(_noncached_shapes[details.id]);
var ptr = _objects[details.id].a != undefined ? _objects[details.id].a : _objects[details.id].ptr;
delete _objects_ammo[ptr];
delete _objects[details.id];
delete _motion_states[details.id];
if (_compound_shapes[details.id]) delete _compound_shapes[details.id];
if (_noncached_shapes[details.id]) delete _noncached_shapes[details.id];
_num_objects--;
};
public_functions.updateTransform = function( details ) {
_object = _objects[details.id];
_object.getMotionState().getWorldTransform( _transform );
if ( details.pos ) {
_vec3_1.setX(details.pos.x);
_vec3_1.setY(details.pos.y);
_vec3_1.setZ(details.pos.z);
_transform.setOrigin(_vec3_1);
}
if ( details.quat ) {
_quat.setX(details.quat.x);
_quat.setY(details.quat.y);
_quat.setZ(details.quat.z);
_quat.setW(details.quat.w);
_transform.setRotation(_quat);
}
_object.setWorldTransform( _transform );
_object.activate();
};
public_functions.updateMass = function( details ) {
// #TODO: changing a static object into dynamic is buggy
_object = _objects[details.id];
// Per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=3663#p13816
world.removeRigidBody( _object );
_vec3_1.setX(0);
_vec3_1.setY(0);
_vec3_1.setZ(0);
_object.setMassProps( details.mass, _vec3_1 );
world.addRigidBody( _object );
_object.activate();
};
public_functions.applyCentralImpulse = function ( details ) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].applyCentralImpulse(_vec3_1);
_objects[details.id].activate();
};
public_functions.applyImpulse = function ( details ) {
_vec3_1.setX(details.impulse_x);
_vec3_1.setY(details.impulse_y);
_vec3_1.setZ(details.impulse_z);
_vec3_2.setX(details.x);
_vec3_2.setY(details.y);
_vec3_2.setZ(details.z);
_objects[details.id].applyImpulse(
_vec3_1,
_vec3_2
);
_objects[details.id].activate();
};
public_functions.applyTorque = function ( details ) {
_vec3_1.setX(details.torque_x);
_vec3_1.setY(details.torque_y);
_vec3_1.setZ(details.torque_z);
_objects[details.id].applyTorque(
_vec3_1
);
_objects[details.id].activate();
};
public_functions.applyCentralForce = function ( details ) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].applyCentralForce(_vec3_1);
_objects[details.id].activate();
};
public_functions.applyForce = function ( details ) {
_vec3_1.setX(details.force_x);
_vec3_1.setY(details.force_y);
_vec3_1.setZ(details.force_z);
_vec3_2.setX(details.x);
_vec3_2.setY(details.y);
_vec3_2.setZ(details.z);
_objects[details.id].applyForce(
_vec3_1,
_vec3_2
);
_objects[details.id].activate();
};
public_functions.onSimulationResume = function( params ) {
last_simulation_time = Date.now();
};
public_functions.setAngularVelocity = function ( details ) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setAngularVelocity(
_vec3_1
);
_objects[details.id].activate();
};
public_functions.setLinearVelocity = function ( details ) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setLinearVelocity(
_vec3_1
);
_objects[details.id].activate();
};
public_functions.setAngularFactor = function ( details ) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setAngularFactor(
_vec3_1
);
};
public_functions.setLinearFactor = function ( details ) {
_vec3_1.setX(details.x);
_vec3_1.setY(details.y);
_vec3_1.setZ(details.z);
_objects[details.id].setLinearFactor(
_vec3_1
);
};
public_functions.setDamping = function ( details ) {
_objects[details.id].setDamping( details.linear, details.angular );
};
public_functions.setCcdMotionThreshold = function ( details ) {
_objects[details.id].setCcdMotionThreshold( details.threshold );
};
public_functions.setCcdSweptSphereRadius = function ( details ) {
_objects[details.id].setCcdSweptSphereRadius( details.radius );
};
public_functions.addConstraint = function ( details ) {
var constraint;
switch ( details.type ) {
case 'point':
if ( details.objectb === undefined ) {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
constraint = new Ammo.btPoint2PointConstraint(
_objects[ details.objecta ],
_vec3_1
);
} else {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
constraint = new Ammo.btPoint2PointConstraint(
_objects[ details.objecta ],
_objects[ details.objectb ],
_vec3_1,
_vec3_2
);
}
break;
case 'hinge':
if ( details.objectb === undefined ) {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.axis.x);
_vec3_2.setY(details.axis.y);
_vec3_2.setZ(details.axis.z);
constraint = new Ammo.btHingeConstraint(
_objects[ details.objecta ],
_vec3_1,
_vec3_2
);
} else {
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
_vec3_3.setX(details.axis.x);
_vec3_3.setY(details.axis.y);
_vec3_3.setZ(details.axis.z);
constraint = new Ammo.btHingeConstraint(
_objects[ details.objecta ],
_objects[ details.objectb ],
_vec3_1,
_vec3_2,
_vec3_3,
_vec3_3
);
}
break;
case 'slider':
var transforma, transformb, rotation;
transforma = new Ammo.btTransform();
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
transforma.setOrigin(_vec3_1);
var rotation = transforma.getRotation();
rotation.setEuler( details.axis.x, details.axis.y, details.axis.z );
transforma.setRotation( rotation );
if ( details.objectb ) {
transformb = new Ammo.btTransform();
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
transformb.setOrigin(_vec3_2);
rotation = transformb.getRotation();
rotation.setEuler( details.axis.x, details.axis.y, details.axis.z );
transformb.setRotation( rotation );
constraint = new Ammo.btSliderConstraint(
_objects[ details.objecta ],
_objects[ details.objectb ],
transforma,
transformb,
true
);
} else {
constraint = new Ammo.btSliderConstraint(
_objects[ details.objecta ],
transforma,
true
);
}
Ammo.destroy(transforma);
if (transformb != undefined) {
Ammo.destroy(transformb);
}
break;
case 'conetwist':
var transforma, transformb;
transforma = new Ammo.btTransform();
transforma.setIdentity();
transformb = new Ammo.btTransform();
transformb.setIdentity();
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
transforma.setOrigin(_vec3_1);
transformb.setOrigin(_vec3_2);
var rotation = transforma.getRotation();
rotation.setEulerZYX( -details.axisa.z, -details.axisa.y, -details.axisa.x );
transforma.setRotation( rotation );
rotation = transformb.getRotation();
rotation.setEulerZYX( -details.axisb.z, -details.axisb.y, -details.axisb.x );
transformb.setRotation( rotation );
constraint = new Ammo.btConeTwistConstraint(
_objects[ details.objecta ],
_objects[ details.objectb ],
transforma,
transformb
);
constraint.setLimit( Math.PI, 0, Math.PI );
Ammo.destroy(transforma);
Ammo.destroy(transformb);
break;
case 'dof':
var transforma, transformb, rotation;
transforma = new Ammo.btTransform();
transforma.setIdentity();
_vec3_1.setX(details.positiona.x);
_vec3_1.setY(details.positiona.y);
_vec3_1.setZ(details.positiona.z);
transforma.setOrigin(_vec3_1 );
rotation = transforma.getRotation();
rotation.setEulerZYX( -details.axisa.z, -details.axisa.y, -details.axisa.x );
transforma.setRotation( rotation );
if ( details.objectb ) {
transformb = new Ammo.btTransform();
transformb.setIdentity();
_vec3_2.setX(details.positionb.x);
_vec3_2.setY(details.positionb.y);
_vec3_2.setZ(details.positionb.z);
transformb.setOrigin(_vec3_2);
rotation = transformb.getRotation();
rotation.setEulerZYX( -details.axisb.z, -details.axisb.y, -details.axisb.x );
transformb.setRotation( rotation );
constraint = new Ammo.btGeneric6DofConstraint(
_objects[ details.objecta ],
_objects[ details.objectb ],
transforma,
transformb
);
} else {
constraint = new Ammo.btGeneric6DofConstraint(
_objects[ details.objecta ],
transforma
);
}
Ammo.destroy(transforma);
if (transformb != undefined) {
Ammo.destroy(transformb);
}
break;
default:
return;
};
world.addConstraint( constraint );
constraint.enableFeedback();
_constraints[ details.id ] = constraint;
_num_constraints++;
if ( SUPPORT_TRANSFERABLE ) {
constraintreport = new Float32Array(1 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )
constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;
} else {
constraintreport = [ MESSAGE_TYPES.CONSTRAINTREPORT ];
}
};
public_functions.removeConstraint = function( details ) {
var constraint = _constraints[ details.id ];
if ( constraint !== undefined ) {
world.removeConstraint( constraint );
delete _constraints[ details.id ];
_num_constraints--;
}
};
public_functions.constraint_setBreakingImpulseThreshold = function( details ) {
var constraint = _constraints[ details.id ];
if ( constraint !== undefind ) {
constraint.setBreakingImpulseThreshold( details.threshold );
}
};
public_functions.simulate = function simulate( params ) {
if ( world ) {
params = params || {};
if ( !params.timeStep ) {
if ( last_simulation_time ) {
params.timeStep = 0;
while ( params.timeStep + last_simulation_duration <= fixedTimeStep ) {
params.timeStep = ( Date.now() - last_simulation_time ) / 1000; // time since last simulation
}
} else {
params.timeStep = fixedTimeStep; // handle first frame
}
} else {
if ( params.timeStep < fixedTimeStep ) {
params.timeStep = fixedTimeStep;
}
}
params.maxSubSteps = params.maxSubSteps || Math.ceil( params.timeStep / fixedTimeStep ); // If maxSubSteps is not defined, keep the simulation fully up to date
last_simulation_duration = Date.now();
world.stepSimulation( params.timeStep, params.maxSubSteps, fixedTimeStep );
reportVehicles();
reportCollisions();
reportConstraints();
reportWorld();
last_simulation_duration = ( Date.now() - last_simulation_duration ) / 1000;
last_simulation_time = Date.now();
}
};
// Constraint functions
public_functions.hinge_setLimits = function( params ) {
_constraints[ params.constraint ].setLimit( params.low, params.high, 0, params.bias_factor, params.relaxation_factor );
};
public_functions.hinge_enableAngularMotor = function( params ) {
var constraint = _constraints[ params.constraint ];
constraint.enableAngularMotor( true, params.velocity, params.acceleration );
constraint.getRigidBodyA().activate();
if ( constraint.getRigidBodyB() ) {
constraint.getRigidBodyB().activate();
}
};
public_functions.hinge_disableMotor = function( params ) {
_constraints[ params.constraint ].enableMotor( false );
if ( constraint.getRigidBodyB() ) {
constraint.getRigidBodyB().activate();
}
};
public_functions.slider_setLimits = function( params ) {
var constraint = _constraints[ params.constraint ];
constraint.setLowerLinLimit( params.lin_lower || 0 );
constraint.setUpperLinLimit( params.lin_upper || 0 );
constraint.setLowerAngLimit( params.ang_lower || 0 );
constraint.setUpperAngLimit( params.ang_upper || 0 );
};
public_functions.slider_setRestitution = function( params ) {
var constraint = _constraints[ params.constraint ];
constraint.setSoftnessLimLin( params.linear || 0 );
constraint.setSoftnessLimAng( params.angular || 0 );
};
public_functions.slider_enableLinearMotor = function( params ) {
var constraint = _constraints[ params.constraint ];
constraint.setTargetLinMotorVelocity( params.velocity );
constraint.setMaxLinMotorForce( params.acceleration );
constraint.setPoweredLinMotor( true );
constraint.getRigidBodyA().activate();
if ( constraint.getRigidBodyB() ) {
constraint.getRigidBodyB().activate();