Examples: Refactored OimoPhysics example.

examples/jsm/physics/OimoPhysics.js

@@ -0,0 +1,243 @@
+import { oimo } from '../libs/OimoPhysics.js';
+
+async function OimoPhysics() {
+
+	const Vec3 = oimo.common.Vec3;
+	const World = oimo.dynamics.World;
+	const RigidBodyType = oimo.dynamics.rigidbody.RigidBodyType;
+	const RigidBodyConfig = oimo.dynamics.rigidbody.RigidBodyConfig;
+	const ShapeConfig = oimo.dynamics.rigidbody.ShapeConfig;
+	const RigidBody = oimo.dynamics.rigidbody.RigidBody;
+	const Shape = oimo.dynamics.rigidbody.Shape;
+	const OBoxGeometry = oimo.collision.geometry.BoxGeometry;
+	const OSphereGeometry = oimo.collision.geometry.SphereGeometry;
+
+	const frameRate = 60;
+
+	const world = new World( 2, new Vec3( 0, - 9.8, 0 ) );
+
+	//
+
+	function getShape( geometry ) {
+
+		const parameters = geometry.parameters;
+
+		// TODO change type to is*
+
+		if ( geometry.type === 'BoxGeometry' ) {
+
+			const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
+			const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
+			const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
+
+			return new OBoxGeometry( new Vec3( sx, sy, sz ) );
+
+		} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
+
+			const radius = parameters.radius !== undefined ? parameters.radius : 1;
+
+			return new OSphereGeometry( radius );
+
+		}
+
+		return null;
+
+	}
+
+	const meshes = [];
+	const meshMap = new WeakMap();
+
+	function addMesh( mesh, mass = 0 ) {
+
+		const shape = getShape( mesh.geometry );
+
+		if ( shape !== null ) {
+
+			if ( mesh.isInstancedMesh ) {
+
+				handleInstancedMesh( mesh, mass, shape );
+
+			} else if ( mesh.isMesh ) {
+
+				handleMesh( mesh, mass, shape );
+
+			}
+
+		}
+
+	}
+
+	function handleMesh( mesh, mass, shape ) {
+
+		const shapeConfig = new ShapeConfig();
+		shapeConfig.geometry = shape;
+
+		const bodyConfig = new RigidBodyConfig();
+		bodyConfig.type = mass === 0 ? RigidBodyType.STATIC : RigidBodyType.DYNAMIC;
+		bodyConfig.position = new Vec3( mesh.position.x, mesh.position.y, mesh.position.z );
+
+		const body = new RigidBody( bodyConfig );
+		body.addShape( new Shape( shapeConfig ) );
+		world.addRigidBody( body );
+
+		if ( mass > 0 ) {
+
+			meshes.push( mesh );
+			meshMap.set( mesh, body );
+
+		}
+
+	}
+
+	function handleInstancedMesh( mesh, mass, shape ) {
+
+		const array = mesh.instanceMatrix.array;
+
+		const bodies = [];
+
+		for ( let i = 0; i < mesh.count; i ++ ) {
+
+			const index = i * 16;
+
+			const shapeConfig = new ShapeConfig();
+			shapeConfig.geometry = shape;
+
+			const bodyConfig = new RigidBodyConfig();
+			bodyConfig.type = mass === 0 ? RigidBodyType.STATIC : RigidBodyType.DYNAMIC;
+			bodyConfig.position = new Vec3( array[ index + 12 ], array[ index + 13 ], array[ index + 14 ] );
+
+			const body = new RigidBody( bodyConfig );
+			body.addShape( new Shape( shapeConfig ) );
+			world.addRigidBody( body );
+
+			bodies.push( body );
+
+		}
+
+		if ( mass > 0 ) {
+
+			meshes.push( mesh );
+			meshMap.set( mesh, bodies );
+
+		}
+
+	}
+
+	//
+
+	function setMeshPosition( mesh, position, index = 0 ) {
+
+		if ( mesh.isInstancedMesh ) {
+
+			const bodies = meshMap.get( mesh );
+			const body = bodies[ index ];
+
+			body.setPosition( new Vec3( position.x, position.y, position.z ) );
+
+		} else if ( mesh.isMesh ) {
+
+			const body = meshMap.get( mesh );
+
+			body.setPosition( new Vec3( position.x, position.y, position.z ) );
+
+		}
+
+	}
+
+	//
+
+	let lastTime = 0;
+
+	function step() {
+
+		const time = performance.now();
+
+		if ( lastTime > 0 ) {
+
+			const delta = ( time - lastTime ) / 1000;
+
+			// console.time( 'world.step' );
+			world.step( delta );
+			// console.timeEnd( 'world.step' );
+
+		}
+
+		lastTime = time;
+
+		//
+
+		for ( let i = 0, l = meshes.length; i < l; i ++ ) {
+
+			const mesh = meshes[ i ];
+
+			if ( mesh.isInstancedMesh ) {
+
+				const array = mesh.instanceMatrix.array;
+				const bodies = meshMap.get( mesh );
+
+				for ( let j = 0; j < bodies.length; j ++ ) {
+
+					const body = bodies[ j ];
+
+					compose( body.getPosition(), body.getOrientation(), array, j * 16 );
+
+				}
+
+				mesh.instanceMatrix.needsUpdate = true;
+
+			} else if ( mesh.isMesh ) {
+
+				const body = meshMap.get( mesh );
+
+				mesh.position.copy( body.getPosition() );
+				mesh.quaternion.copy( body.getOrientation() );
+
+			}
+
+		}
+
+	}
+
+	// animate
+
+	setInterval( step, 1000 / frameRate );
+
+	return {
+		addMesh: addMesh,
+		setMeshPosition: setMeshPosition
+		// addCompoundMesh
+	};
+
+}
+
+function compose( position, quaternion, array, index ) {
+
+	const x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w;
+	const x2 = x + x, y2 = y + y, z2 = z + z;
+	const xx = x * x2, xy = x * y2, xz = x * z2;
+	const yy = y * y2, yz = y * z2, zz = z * z2;
+	const wx = w * x2, wy = w * y2, wz = w * z2;
+
+	array[ index + 0 ] = ( 1 - ( yy + zz ) );
+	array[ index + 1 ] = ( xy + wz );
+	array[ index + 2 ] = ( xz - wy );
+	array[ index + 3 ] = 0;
+
+	array[ index + 4 ] = ( xy - wz );
+	array[ index + 5 ] = ( 1 - ( xx + zz ) );
+	array[ index + 6 ] = ( yz + wx );
+	array[ index + 7 ] = 0;
+
+	array[ index + 8 ] = ( xz + wy );
+	array[ index + 9 ] = ( yz - wx );
+	array[ index + 10 ] = ( 1 - ( xx + yy ) );
+	array[ index + 11 ] = 0;
+
+	array[ index + 12 ] = position.x;
+	array[ index + 13 ] = position.y;
+	array[ index + 14 ] = position.z;
+	array[ index + 15 ] = 1;
+
+}
+
+export { OimoPhysics };