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@@ -0,0 +1,558 @@
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+<html lang="en">
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+ <head>
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+ <title>Ammo.js softbody volume 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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+
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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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+
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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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+ <div id="info">Ammo.js physics soft body volume demo<br>Click to throw a ball</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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+
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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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+ var clickRequest = false;
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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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+ var pos = new THREE.Vector3();
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+ var quat = new THREE.Quaternion();
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+
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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 physicsWorld;
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+ var rigidBodies = [];
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+ var softBodies = [];
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+ var margin = 0.05;
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+ var hinge;
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+ var transformAux1 = new Ammo.btTransform();
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+ var softBodyHelpers = new Ammo.btSoftBodyHelpers();
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+
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+ var armMovement = 0;
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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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+
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+ camera.position.x = -7;
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+ camera.position.y = 5;
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+ camera.position.z = 8;
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+
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+ controls = new THREE.OrbitControls( camera );
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+ controls.target.y = 2;
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+
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+ renderer = new THREE.WebGLRenderer();
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+ renderer.setClearColor( 0xbfd1e5 );
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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( 0x404040 );
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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, 10, 5 );
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+ light.castShadow = true;
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+ var d = 20;
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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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+ 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.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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+ }
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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 = 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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+
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+
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+ // Create soft volumes
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+ var volumeMass = 15;
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+
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+ var sphereGeometry = new THREE.SphereBufferGeometry( 1.5, 40, 25 );
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+ sphereGeometry.translate( 5, 5, 0 );
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+ createSoftVolume( sphereGeometry, volumeMass, 250 );
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+
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+ var boxGeometry = new THREE.BufferGeometry().fromGeometry( new THREE.BoxGeometry( 1, 1, 5, 4, 4, 20 ) );
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+ boxGeometry.translate( -2, 5, 0 );
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+ createSoftVolume( boxGeometry, volumeMass, 120 );
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+
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+ // Ramp
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+ pos.set( 3, 1, 0 );
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+ quat.setFromAxisAngle( new THREE.Vector3( 0, 0, 1 ), 30 * Math.PI / 180 );
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+ var obstacle = createParalellepiped( 10, 1, 4, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0x606060 } ) );
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+ obstacle.castShadow = true;
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+ obstacle.receiveShadow = true;
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+
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+ }
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+
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+ function processGeometry( bufGeometry ) {
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+
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+ // Obtain a Geometry
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+ var geometry = new THREE.Geometry().fromBufferGeometry( bufGeometry );
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+
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+ // Merge the vertices so the triangle soup is converted to indexed triangles
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+ var vertsDiff = geometry.mergeVertices();
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+
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+ // Convert again to BufferGeometry, indexed
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+ var indexedBufferGeom = createIndexedBufferGeometryFromGeometry( geometry );
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+
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+ // Create index arrays mapping the indexed vertices to bufGeometry vertices
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+ mapIndices( bufGeometry, indexedBufferGeom );
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+
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+ }
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+
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+ function createIndexedBufferGeometryFromGeometry( geometry ) {
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+
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+ var numVertices = geometry.vertices.length;
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+ var numFaces = geometry.faces.length;
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+
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+ var bufferGeom = new THREE.BufferGeometry();
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+ var vertices = new Float32Array( numVertices * 3 );
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+ var indices = new ( numFaces * 3 > 65535 ? Uint32Array : Uint16Array )( numFaces * 3 );
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+
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+ for ( var i = 0; i < numVertices; i++ ) {
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+
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+ var p = geometry.vertices[ i ];
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+
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+ var i3 = i * 3;
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+
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+ vertices[ i3 ] = p.x;
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+ vertices[ i3 + 1 ] = p.y;
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+ vertices[ i3 + 2 ] = p.z;
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+
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+ }
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+
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+ for ( var i = 0; i < numFaces; i++ ) {
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+
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+ var f = geometry.faces[ i ];
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+
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+ var i3 = i * 3;
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+
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+ indices[ i3 ] = f.a;
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+ indices[ i3 + 1 ] = f.b;
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+ indices[ i3 + 2 ] = f.c;
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+
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+ }
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+
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+ bufferGeom.setIndex( new THREE.BufferAttribute( indices, 1 ) );
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+ bufferGeom.addAttribute( 'position', new THREE.BufferAttribute( vertices, 3 ) );
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+
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+ return bufferGeom;
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+ }
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+
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+ function isEqual( x1, y1, z1, x2, y2, z2 ) {
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+
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+ var delta = 0.000001;
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+ return Math.abs( x2 - x1 ) < delta &&
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+ Math.abs( y2 - y1 ) < delta &&
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+ Math.abs( z2 - z1 ) < delta;
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+
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+ }
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+
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+ function mapIndices( bufGeometry, indexedBufferGeom ) {
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+
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+ // Creates ammoVertices, ammoIndices and ammoIndexAssociation in bufGeometry
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+
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+ var vertices = bufGeometry.attributes.position.array;
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+ var idxVertices = indexedBufferGeom.attributes.position.array;
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+ var indices = indexedBufferGeom.index.array;
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+
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+ var numIdxVertices = idxVertices.length / 3;
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+ var numVertices = vertices.length / 3;
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+
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+ bufGeometry.ammoVertices = idxVertices;
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+ bufGeometry.ammoIndices = indices;
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+ bufGeometry.ammoIndexAssociation = [];
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+
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+ for ( var i = 0; i < numIdxVertices; i++ ) {
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+
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+ var association = [];
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+ bufGeometry.ammoIndexAssociation.push( association );
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+
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+ var i3 = i * 3;
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+
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+ for ( var j = 0; j < numVertices; j++ ) {
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+
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+ var j3 = j * 3;
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+ if ( isEqual( idxVertices[ i3 ], idxVertices[ i3 + 1 ], idxVertices[ i3 + 2 ],
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+ vertices[ j3 ], vertices[ j3 + 1 ], vertices[ j3 + 2 ] ) ) {
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+ association.push( j3 );
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+ }
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+
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+ }
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+
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+ }
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+
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+ }
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+
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+ function createSoftVolume( bufferGeom, mass, pressure ) {
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+
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+ processGeometry( bufferGeom );
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+
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+ var volume = new THREE.Mesh( bufferGeom, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
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+ volume.castShadow = true;
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+ volume.receiveShadow = true;
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+ volume.frustumCulled = false;
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+ scene.add( volume );
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+
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+ textureLoader.load( "textures/colors.png", function( texture ) {
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+ volume.material.map = texture;
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+ volume.material.needsUpdate = true;
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+ } );
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+
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+ // Volume physic object
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+
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+ var volumeSoftBody = softBodyHelpers.CreateFromTriMesh(
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+ physicsWorld.getWorldInfo(),
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+ bufferGeom.ammoVertices,
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+ bufferGeom.ammoIndices,
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+ bufferGeom.ammoIndices.length / 3,
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+ true );
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+
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+ var sbConfig = volumeSoftBody.get_m_cfg();
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+ sbConfig.set_viterations( 40 );
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+ sbConfig.set_piterations( 40 );
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+
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+ // Soft-soft and soft-rigid collisions
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+ sbConfig.set_collisions( 0x11 );
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+
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+ // Friction
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+ sbConfig.set_kDF( 0.1 );
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+ // Damping
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+ sbConfig.set_kDP( 0.01 );
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+ // Pressure
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+ sbConfig.set_kPR( pressure );
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+ // Stiffness
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+ volumeSoftBody.get_m_materials().at( 0 ).set_m_kLST( 0.9 );
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+ volumeSoftBody.get_m_materials().at( 0 ).set_m_kAST( 0.9 );
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+
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+ volumeSoftBody.setTotalMass( mass, false )
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+ Ammo.castObject( volumeSoftBody, Ammo.btCollisionObject ).getCollisionShape().setMargin( margin );
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+ physicsWorld.addSoftBody( volumeSoftBody, 1, -1 );
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+ volume.userData.physicsBody = volumeSoftBody;
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+ // Disable deactivation
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+ volumeSoftBody.setActivationState( 4 );
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+
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+ softBodies.push( volume );
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+
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+ }
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+
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+ function createParalellepiped( sx, sy, sz, mass, pos, quat, material ) {
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+
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+ var threeObject = new THREE.Mesh( new THREE.BoxGeometry( 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( threeObject, shape, mass, pos, quat );
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+
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+ return threeObject;
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+
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+ }
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+
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+ function createRigidBody( threeObject, physicsShape, mass, pos, quat ) {
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+
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+ threeObject.position.copy( pos );
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+ threeObject.quaternion.copy( quat );
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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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+ threeObject.userData.physicsBody = body;
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+
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+ scene.add( threeObject );
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+
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+ if ( mass > 0 ) {
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+
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+ rigidBodies.push( threeObject );
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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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+
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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 initInput() {
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+
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+ window.addEventListener( 'mousedown', function( event ) {
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+
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+ if ( ! clickRequest ) {
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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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+ clickRequest = true;
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+
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+ }
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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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+
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+ function processClick() {
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|
+
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|
|
+ if ( clickRequest ) {
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|
|
+
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|
|
+ raycaster.setFromCamera( mouseCoords, camera );
|
|
|
+
|
|
|
+ // Creates a ball
|
|
|
+ var ballMass = 3;
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|
|
+ var ballRadius = 0.4;
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|
+
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|
+ var ball = new THREE.Mesh( new THREE.SphereGeometry( ballRadius, 18, 16 ), 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 );
|
|
|
+ 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 );
|
|
|
+ ballBody.setFriction( 0.5 );
|
|
|
+
|
|
|
+ pos.copy( raycaster.ray.direction );
|
|
|
+ pos.multiplyScalar( 14 );
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|
|
+ ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
|
|
|
+
|
|
|
+ clickRequest = false;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function onWindowResize() {
|
|
|
+
|
|
|
+ camera.aspect = window.innerWidth / window.innerHeight;
|
|
|
+ camera.updateProjectionMatrix();
|
|
|
+
|
|
|
+ renderer.setSize( window.innerWidth, window.innerHeight );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function animate() {
|
|
|
+
|
|
|
+ requestAnimationFrame( animate );
|
|
|
+
|
|
|
+ render();
|
|
|
+ stats.update();
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function render() {
|
|
|
+
|
|
|
+ var deltaTime = clock.getDelta();
|
|
|
+
|
|
|
+ updatePhysics( deltaTime );
|
|
|
+
|
|
|
+ processClick();
|
|
|
+
|
|
|
+ controls.update( deltaTime );
|
|
|
+
|
|
|
+ renderer.render( scene, camera );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function updatePhysics( deltaTime ) {
|
|
|
+
|
|
|
+ // Step world
|
|
|
+ physicsWorld.stepSimulation( deltaTime, 10 );
|
|
|
+
|
|
|
+ // Update soft volumes
|
|
|
+ for ( var i = 0, il = softBodies.length; i < il; i++ ) {
|
|
|
+ var volume = softBodies[ i ];
|
|
|
+ var geometry = volume.geometry;
|
|
|
+ var softBody = volume.userData.physicsBody;
|
|
|
+ var volumePositions = geometry.attributes.position.array;
|
|
|
+ var volumeNormals = geometry.attributes.normal.array;
|
|
|
+ var association = geometry.ammoIndexAssociation;
|
|
|
+ var numVerts = association.length;
|
|
|
+ var nodes = softBody.get_m_nodes();
|
|
|
+ for ( var j = 0; j < numVerts; j ++ ) {
|
|
|
+
|
|
|
+ var node = nodes.at( j );
|
|
|
+ var nodePos = node.get_m_x();
|
|
|
+ var x = nodePos.x();
|
|
|
+ var y = nodePos.y();
|
|
|
+ var z = nodePos.z();
|
|
|
+ var nodeNormal = node.get_m_n();
|
|
|
+ var nx = nodeNormal.x();
|
|
|
+ var ny = nodeNormal.y();
|
|
|
+ var nz = nodeNormal.z();
|
|
|
+
|
|
|
+ var assocVertex = association[ j ];
|
|
|
+
|
|
|
+ for ( var k = 0, kl = assocVertex.length; k < kl; k++ ) {
|
|
|
+ var indexVertex = assocVertex[ k ];
|
|
|
+ volumePositions[ indexVertex ] = x;
|
|
|
+ volumeNormals[ indexVertex ] = nx;
|
|
|
+ indexVertex++;
|
|
|
+ volumePositions[ indexVertex ] = y;
|
|
|
+ volumeNormals[ indexVertex ] = ny;
|
|
|
+ indexVertex++;
|
|
|
+ volumePositions[ indexVertex ] = z;
|
|
|
+ volumeNormals[ indexVertex ] = nz;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ geometry.attributes.position.needsUpdate = true;
|
|
|
+ geometry.attributes.normal.needsUpdate = true;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ // 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() );
|
|
|
+
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ </script>
|
|
|
+
|
|
|
+ </body>
|
|
|
+</html>
|
Juan Jose Luna Espinosa
