Examples: Added AmmoPhysics.

examples/files.js

@@ -348,6 +348,7 @@ var files = {
 	"physics": [
 		"physics_ammo_break",
 		"physics_ammo_cloth",
+		"physics_ammo_instancing",
 		"physics_ammo_rope",
 		"physics_ammo_terrain",
 		"physics_ammo_volume",

examples/jsm/physics/AmmoPhysics.d.ts

@@ -0,0 +1,12 @@
+import {
+	Mesh,
+	Vector3
+} from '../../../src/Three';
+
+export class AmmoPhysics {
+
+	constructor();
+	addMesh( mesh: Mesh, mass: number ): void;
+	setMeshPosition( mesh: Mesh, position: Vector3, index: number ): void;
+
+}

examples/jsm/physics/AmmoPhysics.js

@@ -0,0 +1,282 @@
+async function AmmoPhysics() {
+
+	if ( 'Ammo' in window === false ) {
+
+		console.error( 'AmmoPhysics: Couldn\'t find Ammo.js' );
+		return;
+
+	}
+
+	const AmmoLib = await Ammo();
+
+	const frameRate = 60;
+
+	const collisionConfiguration = new AmmoLib.btDefaultCollisionConfiguration();
+	const dispatcher = new AmmoLib.btCollisionDispatcher( collisionConfiguration );
+	const broadphase = new AmmoLib.btDbvtBroadphase();
+	const solver = new AmmoLib.btSequentialImpulseConstraintSolver();
+	const world = new AmmoLib.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
+	world.setGravity( new AmmoLib.btVector3( 0, - 9.8, 0 ) );
+
+	const worldTransform = new AmmoLib.btTransform();
+
+	//
+
+	function getShape( geometry ) {
+
+		const parameters = geometry.parameters;
+
+		// TODO change type to is*
+
+		if ( geometry.type === 'BoxBufferGeometry' ) {
+
+			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;
+
+			const shape = new AmmoLib.btBoxShape( new AmmoLib.btVector3( sx, sy, sz ) );
+			shape.setMargin( 0.05 );
+
+			return shape;
+
+		} else if ( geometry.type === 'PlaneBufferGeometry' ) {
+
+			const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
+			const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
+
+			const shape = new AmmoLib.btBoxShape( new AmmoLib.btVector3( sx, sy, 0.01 ) );
+			shape.setMargin( 0.05 );
+
+			return shape;
+
+		}
+
+		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 position = mesh.position;
+		const quaternion = mesh.quaternion;
+
+		const transform = new AmmoLib.btTransform();
+		transform.setIdentity();
+		transform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+		transform.setRotation( new AmmoLib.btQuaternion( quaternion.x, quaternion.y, quaternion.z, quaternion.w ) );
+
+		const motionState = new AmmoLib.btDefaultMotionState( transform );
+
+		const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
+		shape.calculateLocalInertia( mass, localInertia );
+
+		const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
+
+		const body = new AmmoLib.btRigidBody( rbInfo );
+		// body.setFriction( 4 );
+		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 transform = new AmmoLib.btTransform();
+			transform.setFromOpenGLMatrix( array.slice( index, index + 16 ) );
+
+			const motionState = new AmmoLib.btDefaultMotionState( transform );
+
+			const localInertia = new AmmoLib.btVector3( 0, 0, 0 );
+			shape.calculateLocalInertia( mass, localInertia );
+
+			const rbInfo = new AmmoLib.btRigidBodyConstructionInfo( mass, motionState, shape, localInertia );
+
+			const body = new AmmoLib.btRigidBody( rbInfo );
+			world.addRigidBody( body );
+
+			bodies.push( body );
+
+		}
+
+		if ( mass > 0 ) {
+
+			mesh.instanceMatrix.setUsage( 35048 ); // THREE.DynamicDrawUsage = 35048
+			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 ];
+
+			worldTransform.setIdentity();
+			worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+			body.setWorldTransform( worldTransform );
+
+		} else if ( mesh.isMesh ) {
+
+			const body = meshMap.get( mesh );
+
+			worldTransform.setIdentity();
+			worldTransform.setOrigin( new AmmoLib.btVector3( position.x, position.y, position.z ) );
+			body.setWorldTransform( worldTransform );
+
+		}
+
+	}
+
+	//
+
+	let lastTime = 0;
+
+	function step() {
+
+		const time = performance.now();
+
+		if ( lastTime > 0 ) {
+
+			const delta = ( time - lastTime ) / 1000;
+
+			// console.time( 'world.step' );
+			world.stepSimulation( delta, 10 );
+			// 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 ];
+
+					const motionState = body.getMotionState();
+					motionState.getWorldTransform( worldTransform );
+
+					const position = worldTransform.getOrigin();
+					const quaternion = worldTransform.getRotation();
+
+					compose( position, quaternion, array, j * 16 );
+
+				}
+
+				mesh.instanceMatrix.needsUpdate = true;
+
+			} else if ( mesh.isMesh ) {
+
+				const body = meshMap.get( mesh );
+
+				const motionState = body.getMotionState();
+				motionState.getWorldTransform( worldTransform );
+
+				const position = worldTransform.getOrigin();
+				const quaternion = worldTransform.getRotation();
+				mesh.position.set( position.x(), position.y(), position.z() );
+				mesh.quaternion.set( quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w() );
+
+			}
+
+		}
+
+	}
+
+	// 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 { AmmoPhysics };

examples/physics_ammo_instancing.html

@@ -0,0 +1,122 @@
+<!DOCTYPE html>
+<html lang="en">
+	<head>
+		<title>three.js physics - ammo.js instancing</title>
+		<meta charset="utf-8">
+		<meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no">
+		<link type="text/css" rel="stylesheet" href="main.css">
+	</head>
+	<body>
+
+		<div id="info">
+			<a href="https://threejs.org" target="_blank" rel="noopener">three.js</a> physics - ammo.js instancing
+		</div>
+
+		<script src="js/libs/ammo.js"></script>
+
+		<script type="module">
+
+			import * as THREE from '../build/three.module.js';
+			import { OrbitControls } from './jsm/controls/OrbitControls.js';
+			import { AmmoPhysics } from './jsm/physics/AmmoPhysics.js';
+			import Stats from './jsm/libs/stats.module.js';
+
+			var camera, scene, renderer, stats;
+			var physics, position;
+
+			init();
+
+			async function init() {
+
+				physics = await AmmoPhysics();
+				position = new THREE.Vector3();
+
+				//
+
+				camera = new THREE.PerspectiveCamera( 50, window.innerWidth / window.innerHeight, 0.1, 100 );
+				camera.position.set( - 1, 1.5, 2 );
+				camera.lookAt( 0, 0.5, 0 );
+
+				scene = new THREE.Scene();
+				scene.background = new THREE.Color( 0x666666 );
+
+				var light = new THREE.HemisphereLight();
+				light.intensity = 0.35;
+				scene.add( light );
+
+				var light = new THREE.DirectionalLight();
+				light.position.set( 5, 5, 5 );
+				light.castShadow = true;
+				light.shadow.camera.zoom = 2;
+				scene.add( light );
+
+				var plane = new THREE.Mesh(
+					new THREE.PlaneBufferGeometry( 5, 5 ),
+					new THREE.ShadowMaterial( { color: 0x111111 } )
+				);
+				plane.rotation.x = - Math.PI / 2;
+				plane.receiveShadow = true;
+				scene.add( plane );
+				physics.addMesh( plane );
+
+				var geometry = new THREE.BoxBufferGeometry( 0.1, 0.1, 0.1 );
+				var material = new THREE.MeshLambertMaterial();
+				var mesh = new THREE.InstancedMesh( geometry, material, 200 );
+				mesh.castShadow = true;
+				mesh.receiveShadow = true;
+				scene.add( mesh );
+
+				var matrix = new THREE.Matrix4();
+				var color = new THREE.Color();
+
+				for ( var i = 0; i < mesh.count; i ++ ) {
+
+					matrix.setPosition( Math.random() - 0.5, Math.random() * 2, Math.random() - 0.5 );
+					mesh.setMatrixAt( i, matrix );
+					mesh.setColorAt( i, color.setHex( 0xffffff * Math.random() ) );
+
+				}
+
+				physics.addMesh( mesh, 1 );
+
+				//
+
+				renderer = new THREE.WebGLRenderer( { antialias: true } );
+				renderer.setPixelRatio( window.devicePixelRatio );
+				renderer.setSize( window.innerWidth, window.innerHeight );
+				renderer.shadowMap.enabled = true;
+				renderer.outputEncoding = THREE.sRGBEncoding;
+				document.body.appendChild( renderer.domElement );
+
+				stats = new Stats();
+				document.body.appendChild( stats.dom );
+
+				//
+
+				var controls = new OrbitControls( camera, renderer.domElement );
+				controls.target.y = 0.5;
+				controls.update();
+
+				animate();
+
+			}
+
+			function animate() {
+
+				requestAnimationFrame( animate );
+
+				var mesh = scene.children[ 3 ];
+				var index = Math.floor( Math.random() * mesh.count );
+
+				position.set( 0, Math.random() * 2, 0 );
+				physics.setMeshPosition( mesh, position, index );
+
+				renderer.render( scene, camera );
+
+				stats.update();
+
+			}
+
+		</script>
+	</body>
+</html>