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+<html lang="en">
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+ <head>
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+ <title>Convex buffer object breaking example</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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+
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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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+
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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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+
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+ a {
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+ color: #a06851;
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+ }
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+
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+ </style>
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+ </head>
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+ <body>
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+
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+ <div id="info">Physics threejs demo with convex objects breaking in real time<br />Press mouse to throw balls and move the camera.</div>
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+ <div id="container"><br /><br /><br /><br /><br />Loading...</div>
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+
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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/Detector.js"></script>
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+ <script src="js/libs/stats.min.js"></script>
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+ <script src="js/ConvexBufferObjectBreaker.js"></script>
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+ <script src="js/QuickHull.js"></script>
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+ <script src="js/geometries/ConvexGeometry.js"></script>
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+
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+ <script>
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+
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+ // Detects webgl
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+ if ( ! Detector.webgl ) {
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+ Detector.addGetWebGLMessage();
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+ document.getElementById( 'container' ).innerHTML = "";
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+ }
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+
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+ // - Global variables -
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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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+
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+ var mouseCoords = new THREE.Vector2();
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+ var raycaster = new THREE.Raycaster();
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+ var ballMaterial = new THREE.MeshPhongMaterial( { color: 0x202020 } );
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+
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+ // Physics variables
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+ var gravityConstant = 7.8;
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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 physicsWorld;
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+ var margin = 0.05;
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+
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+ var convexBreaker = new THREE.ConvexBufferObjectBreaker();
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+
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+ // Rigid bodies include all movable objects
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+ var rigidBodies = [];
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+
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+ var pos = new THREE.Vector3();
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+ var quat = new THREE.Quaternion();
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+ var transformAux1 = new Ammo.btTransform();
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+ var tempBtVec3_1 = new Ammo.btVector3( 0, 0, 0 );
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+
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+ var time = 0;
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+
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+ var objectsToRemove = [];
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+ for ( var i = 0; i < 500; i++ ) {
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+ objectsToRemove[ i ] = null;
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+ }
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+ var numObjectsToRemove = 0;
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+
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+ var impactPoint = new THREE.Vector3();
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+ var impactNormal = new THREE.Vector3();
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+
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+ // - Main code -
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+
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+ init();
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+ animate();
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+
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+
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+ // - Functions -
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+
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+ function init() {
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+
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+ initGraphics();
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+
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+ initPhysics();
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+
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+ createObjects();
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+
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+ initInput();
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+
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+ }
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+
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+ function initGraphics() {
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+
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+ container = document.getElementById( 'container' );
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+
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+ camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 2000 );
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+
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+ scene = new THREE.Scene();
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+ scene.background = new THREE.Color( 0xbfd1e5 );
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+
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+ camera.position.set( -14, 8, 16 );
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+
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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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+
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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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+
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+ textureLoader = new THREE.TextureLoader();
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+
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+ var ambientLight = new THREE.AmbientLight( 0x707070 );
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+ scene.add( ambientLight );
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+
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+ var light = new THREE.DirectionalLight( 0xffffff, 1 );
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+ light.position.set( -10, 18, 5 );
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+ light.castShadow = true;
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+ var d = 14;
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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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+
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+ light.shadow.camera.near = 2;
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+ light.shadow.camera.far = 50;
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+
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+ light.shadow.mapSize.x = 1024;
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+ light.shadow.mapSize.y = 1024;
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+
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+ scene.add( light );
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+
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+
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+ container.innerHTML = "";
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+
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+ container.appendChild( renderer.domElement );
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+
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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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+ //
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+
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+ window.addEventListener( 'resize', onWindowResize, false );
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+
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+ }
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+
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+ function initPhysics() {
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+
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+ // Physics configuration
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+
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+ collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
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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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+ physicsWorld = new Ammo.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
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+ physicsWorld.setGravity( new Ammo.btVector3( 0, - gravityConstant, 0 ) );
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+
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+ }
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+
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+ function createObject( mass, halfExtents, pos, quat, material ) {
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+
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+ var object = new THREE.Mesh( new THREE.BoxBufferGeometry( halfExtents.x * 2, halfExtents.y * 2, halfExtents.z * 2 ), material );
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+ object.position.copy( pos );
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+ object.quaternion.copy( quat );
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+ convexBreaker.prepareBreakableObject( object, mass, new THREE.Vector3(), new THREE.Vector3(), true );
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+ createDebrisFromBreakableObject( object );
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+
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+ }
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+
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+ function createObjects() {
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+
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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 = createParalellepipedWithPhysics( 40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
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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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+
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+ // Tower 1
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+ var towerMass = 1000;
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+ var towerHalfExtents = new THREE.Vector3( 2, 5, 2 );
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+ pos.set( -8, 5, 0 );
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+ quat.set( 0, 0, 0, 1 );
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+ createObject( towerMass, towerHalfExtents, pos, quat, createMaterial( 0xB03014 ) );
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+
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+ // Tower 2
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+ pos.set( 8, 5, 0 );
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+ quat.set( 0, 0, 0, 1 );
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+ createObject( towerMass, towerHalfExtents, pos, quat, createMaterial( 0xB03214 ) );
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+
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+ //Bridge
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+ var bridgeMass = 100;
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+ var bridgeHalfExtents = new THREE.Vector3( 7, 0.2, 1.5 );
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+ pos.set( 0, 10.2, 0 );
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+ quat.set( 0, 0, 0, 1 );
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+ createObject( bridgeMass, bridgeHalfExtents, pos, quat, createMaterial( 0xB3B865 ) );
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+
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+ // Stones
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+ var stoneMass = 120;
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+ var stoneHalfExtents = new THREE.Vector3( 1, 2, 0.15 );
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+ var numStones = 8;
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+ quat.set( 0, 0, 0, 1 );
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+ for ( var i = 0; i < numStones; i++ ) {
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+
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+ pos.set( 0, 2, 15 * ( 0.5 - i / ( numStones + 1 ) ) );
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+
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+ createObject( stoneMass, stoneHalfExtents, pos, quat, createMaterial( 0xB0B0B0 ) );
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+
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+ }
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+
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+ // Mountain
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+ var mountainMass = 860;
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+ var mountainHalfExtents = new THREE.Vector3( 4, 5, 4 );
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+ pos.set( 5, mountainHalfExtents.y * 0.5, - 7 );
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+ quat.set( 0, 0, 0, 1 );
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+ var mountainPoints = [];
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+ mountainPoints.push( new THREE.Vector3( mountainHalfExtents.x, - mountainHalfExtents.y, mountainHalfExtents.z ) );
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+ mountainPoints.push( new THREE.Vector3( - mountainHalfExtents.x, - mountainHalfExtents.y, mountainHalfExtents.z ) );
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+ mountainPoints.push( new THREE.Vector3( mountainHalfExtents.x, - mountainHalfExtents.y, - mountainHalfExtents.z ) );
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+ mountainPoints.push( new THREE.Vector3( - mountainHalfExtents.x, - mountainHalfExtents.y, - mountainHalfExtents.z ) );
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+ mountainPoints.push( new THREE.Vector3( 0, mountainHalfExtents.y, 0 ) );
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+ var mountain = new THREE.Mesh( new THREE.ConvexBufferGeometry( mountainPoints ), createMaterial( 0xB03814 ) );
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+ mountain.position.copy( pos );
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+ mountain.quaternion.copy( quat );
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+ convexBreaker.prepareBreakableObject( mountain, mountainMass, new THREE.Vector3(), new THREE.Vector3(), true );
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+ createDebrisFromBreakableObject( mountain );
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+
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+ }
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+
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+ function createParalellepipedWithPhysics( sx, sy, sz, mass, pos, quat, material ) {
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+
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+ var object = 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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+
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+ createRigidBody( object, shape, mass, pos, quat );
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+
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+ return object;
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+
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+ }
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+
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+ function createDebrisFromBreakableObject( object ) {
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+
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+ object.castShadow = true;
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+ object.receiveShadow = true;
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+
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+ var shape = createConvexHullPhysicsShape( object.geometry.attributes.position.array );
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+ shape.setMargin( margin );
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+
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+ var body = createRigidBody( object, shape, object.userData.mass, null, null, object.userData.velocity, object.userData.angularVelocity );
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+
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+ // Set pointer back to the three object only in the debris objects
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+ var btVecUserData = new Ammo.btVector3( 0, 0, 0 );
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+ btVecUserData.threeObject = object;
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+ body.setUserPointer( btVecUserData );
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+
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+ }
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+
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+ function removeDebris( object ) {
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+
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+ scene.remove( object );
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+
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+ physicsWorld.removeRigidBody( object.userData.physicsBody );
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+
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+ }
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+
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+ function createConvexHullPhysicsShape( coords ) {
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+
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+ var shape = new Ammo.btConvexHullShape();
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+
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+ for ( var i = 0, il = coords.length; i < il; i+= 3 ) {
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+ var p = coords[ i ];
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+ this.tempBtVec3_1.setValue( coords[ i ], coords[ i + 1 ], coords[ i + 2 ] );
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+ var lastOne = ( i >= ( il - 3 ) );
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+ shape.addPoint( this.tempBtVec3_1, lastOne );
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+ }
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+
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+ return shape;
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+
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+ }
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+
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+ function createRigidBody( object, physicsShape, mass, pos, quat, vel, angVel ) {
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+
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+ if ( pos ) {
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+ object.position.copy( pos );
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+ }
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+ else {
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+ pos = object.position;
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+ }
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+ if ( quat ) {
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+ object.quaternion.copy( quat );
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+ }
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+ else {
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+ quat = object.quaternion;
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+ }
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+
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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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+
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+ var localInertia = new Ammo.btVector3( 0, 0, 0 );
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+ physicsShape.calculateLocalInertia( mass, localInertia );
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+
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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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+
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+ body.setFriction( 0.5 );
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+
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+ if ( vel ) {
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+ body.setLinearVelocity( new Ammo.btVector3( vel.x, vel.y, vel.z ) );
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+ }
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+ if ( angVel ) {
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+ body.setAngularVelocity( new Ammo.btVector3( angVel.x, angVel.y, angVel.z ) );
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+ }
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+
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+ object.userData.physicsBody = body;
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+ object.userData.collided = false;
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+
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+ scene.add( object );
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+
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+ if ( mass > 0 ) {
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+ rigidBodies.push( object );
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+
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+ // Disable deactivation
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+ body.setActivationState( 4 );
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+ }
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+
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+ physicsWorld.addRigidBody( body );
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+
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+ return body;
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+ }
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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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+
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+ function createMaterial( color ) {
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+ color = color || createRandomColor();
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+ return new THREE.MeshPhongMaterial( { color: color } );
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+ }
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+
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+ function initInput() {
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+
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+ window.addEventListener( 'mousedown', function( event ) {
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+
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+ mouseCoords.set(
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+ ( event.clientX / window.innerWidth ) * 2 - 1,
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+ - ( event.clientY / window.innerHeight ) * 2 + 1
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+ );
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+
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+ raycaster.setFromCamera( mouseCoords, camera );
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+
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+ // Creates a ball and throws it
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+ var ballMass = 35;
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+ var ballRadius = 0.4;
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+
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+ var ball = new THREE.Mesh( new THREE.SphereBufferGeometry( ballRadius, 14, 10 ), ballMaterial );
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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.copy( raycaster.ray.direction );
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+ pos.add( raycaster.ray.origin );
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+ quat.set( 0, 0, 0, 1 );
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+ var ballBody = createRigidBody( ball, ballShape, ballMass, pos, quat );
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+
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+ pos.copy( raycaster.ray.direction );
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+ pos.multiplyScalar( 24 );
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+ ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
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+
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+ }, false );
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+
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+ }
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+
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+ function onWindowResize() {
|
|
|
+
|
|
|
+ camera.aspect = window.innerWidth / window.innerHeight;
|
|
|
+ camera.updateProjectionMatrix();
|
|
|
+
|
|
|
+ renderer.setSize( window.innerWidth, window.innerHeight );
|
|
|
+
|
|
|
+ }
|
|
|
+
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|
|
+ function animate() {
|
|
|
+
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|
|
+ requestAnimationFrame( animate );
|
|
|
+
|
|
|
+ render();
|
|
|
+ stats.update();
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function render() {
|
|
|
+
|
|
|
+ var deltaTime = clock.getDelta();
|
|
|
+
|
|
|
+ updatePhysics( deltaTime );
|
|
|
+
|
|
|
+ renderer.render( scene, camera );
|
|
|
+
|
|
|
+ time += deltaTime;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function updatePhysics( deltaTime ) {
|
|
|
+
|
|
|
+ // Step world
|
|
|
+ physicsWorld.stepSimulation( deltaTime, 10 );
|
|
|
+
|
|
|
+ // Update rigid bodies
|
|
|
+ for ( var i = 0, il = rigidBodies.length; i < il; i++ ) {
|
|
|
+ var objThree = rigidBodies[ i ];
|
|
|
+ var objPhys = objThree.userData.physicsBody;
|
|
|
+ var ms = objPhys.getMotionState();
|
|
|
+ if ( ms ) {
|
|
|
+
|
|
|
+ ms.getWorldTransform( transformAux1 );
|
|
|
+ var p = transformAux1.getOrigin();
|
|
|
+ var q = transformAux1.getRotation();
|
|
|
+ objThree.position.set( p.x(), p.y(), p.z() );
|
|
|
+ objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );
|
|
|
+
|
|
|
+ objThree.userData.collided = false;
|
|
|
+
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ for ( var i = 0, il = dispatcher.getNumManifolds(); i < il; i ++ ) {
|
|
|
+
|
|
|
+ var contactManifold = dispatcher.getManifoldByIndexInternal( i );
|
|
|
+ var rb0 = contactManifold.getBody0();
|
|
|
+ var rb1 = contactManifold.getBody1();
|
|
|
+
|
|
|
+ var threeObject0 = Ammo.castObject( rb0.getUserPointer(), Ammo.btVector3 ).threeObject;
|
|
|
+ var threeObject1 = Ammo.castObject( rb1.getUserPointer(), Ammo.btVector3 ).threeObject;
|
|
|
+
|
|
|
+ if ( ! threeObject0 && ! threeObject1 ) {
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+
|
|
|
+ var userData0 = threeObject0 ? threeObject0.userData : null;
|
|
|
+ var userData1 = threeObject1 ? threeObject1.userData : null;
|
|
|
+
|
|
|
+ var breakable0 = userData0 ? userData0.breakable : false;
|
|
|
+ var breakable1 = userData1 ? userData1.breakable : false;
|
|
|
+
|
|
|
+ var collided0 = userData0 ? userData0.collided : false;
|
|
|
+ var collided1 = userData1 ? userData1.collided : false;
|
|
|
+
|
|
|
+ if ( ( ! breakable0 && ! breakable1 ) || ( collided0 && collided1 ) ) {
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+
|
|
|
+ var contact = false;
|
|
|
+ var maxImpulse = 0;
|
|
|
+ for ( var j = 0, jl = contactManifold.getNumContacts(); j < jl; j ++ ) {
|
|
|
+ var contactPoint = contactManifold.getContactPoint( j );
|
|
|
+ if ( contactPoint.getDistance() < 0 ) {
|
|
|
+ contact = true;
|
|
|
+ var impulse = contactPoint.getAppliedImpulse();
|
|
|
+ if ( impulse > maxImpulse ) {
|
|
|
+ maxImpulse = impulse;
|
|
|
+ var pos = contactPoint.get_m_positionWorldOnB();
|
|
|
+ var normal = contactPoint.get_m_normalWorldOnB();
|
|
|
+ impactPoint.set( pos.x(), pos.y(), pos.z() );
|
|
|
+ impactNormal.set( normal.x(), normal.y(), normal.z() );
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ // If no point has contact, abort
|
|
|
+ if ( ! contact ) {
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+
|
|
|
+ // Subdivision
|
|
|
+
|
|
|
+ var fractureImpulse = 250;
|
|
|
+
|
|
|
+ if ( breakable0 && !collided0 && maxImpulse > fractureImpulse ) {
|
|
|
+
|
|
|
+ var debris = convexBreaker.subdivideByImpact( threeObject0, impactPoint, impactNormal , 1, 2, 1.5 );
|
|
|
+
|
|
|
+ var numObjects = debris.length;
|
|
|
+ for ( var j = 0; j < numObjects; j++ ) {
|
|
|
+
|
|
|
+ createDebrisFromBreakableObject( debris[ j ] );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ objectsToRemove[ numObjectsToRemove++ ] = threeObject0;
|
|
|
+ userData0.collided = true;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ if ( breakable1 && !collided1 && maxImpulse > fractureImpulse ) {
|
|
|
+
|
|
|
+ var debris = convexBreaker.subdivideByImpact( threeObject1, impactPoint, impactNormal , 1, 2, 1.5 );
|
|
|
+
|
|
|
+ var numObjects = debris.length;
|
|
|
+ for ( var j = 0; j < numObjects; j++ ) {
|
|
|
+
|
|
|
+ createDebrisFromBreakableObject( debris[ j ] );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ objectsToRemove[ numObjectsToRemove++ ] = threeObject1;
|
|
|
+ userData1.collided = true;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ for ( var i = 0; i < numObjectsToRemove; i++ ) {
|
|
|
+
|
|
|
+ removeDebris( objectsToRemove[ i ] );
|
|
|
+
|
|
|
+ }
|
|
|
+ numObjectsToRemove = 0;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ </script>
|
|
|
+
|
|
|
+ </body>
|
|
|
+</html>
|