Revert "RapierPhysics: Clean up (#26034)" (#26039)

This reverts commit e7bce17b5ad654f2caf43644270ca7f12f682044.

examples/jsm/physics/RapierPhysics.js

@@ -1,5 +1,3 @@
-import { Vector3, Matrix4 } from 'three';
-
 async function RapierPhysics() {
 
 	const RAPIER = await import( 'https://cdn.skypack.dev/@dimforge/[email protected]' );
@@ -67,7 +65,15 @@ async function RapierPhysics() {
 
 	function handleMesh( mesh, mass, shape ) {
 
-		const body = createBody( mesh.position, mesh.quaternion, mass, shape );
+		const position = mesh.position;
+		const quaternion = mesh.quaternion;
+
+		const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
+		desc.setTranslation( position.x, position.y, position.z );
+		desc.setRotation( quaternion );
+
+		const body = world.createRigidBody( desc );
+		world.createCollider( shape, body );
 
 		if ( mass > 0 ) {
 
@@ -86,8 +92,15 @@ async function RapierPhysics() {
 
 		for ( let i = 0; i < mesh.count; i ++ ) {
 
-			const position = new Vector3().fromArray( array, i * 16 + 12 );
-			bodies.push( createBody( position, null, mass, shape ) );
+			const index = i * 16;
+
+			const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
+			desc.setTranslation( array[ index + 12 ], array[ index + 13 ], array[ index + 14 ] );
+
+			const body = world.createRigidBody( desc );
+			world.createCollider( shape, body );
+
+			bodies.push( body );
 
 		}
 
@@ -100,38 +113,47 @@ async function RapierPhysics() {
 
 	}
 
-	function createBody( position, quaternion, mass, shape ) {
+	const ZERO = { x: 0, y: 0, z: 0 };
 
-		const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
-		desc.setTranslation( ...position );
-		if ( quaternion !== null ) desc.setRotation( quaternion );
+	function setMeshPosition( mesh, position, index = 0 ) {
 
-		const body = world.createRigidBody( desc );
-		world.createCollider( shape, body );
+		if ( mesh.isInstancedMesh ) {
 
-		return body;
+			const bodies = meshMap.get( mesh );
+			const body = bodies[ index ];
 
-	}
+			body.setAngvel( ZERO );
+			body.setLinvel( ZERO );
+			body.setTranslation( position );
 
-	const ZERO = new Vector3();
+		} else if ( mesh.isMesh ) {
 
-	function setMeshPosition( mesh, position, index = 0 ) {
+			const body = meshMap.get( mesh );
 
-		let body = meshMap.get( mesh );
-		if ( mesh.isInstancedMesh ) body = body[ index ];
+			body.setAngvel( ZERO );
+			body.setLinvel( ZERO );
+			body.setTranslation( position );
 
-		body.setAngvel( ZERO );
-		body.setLinvel( ZERO );
-		body.setTranslation( position );
+		}
 
 	}
 
 	function setMeshVelocity( mesh, velocity, index = 0 ) {
 
-		let body = meshMap.get( mesh );
-		if ( mesh.isInstancedMesh ) body = body[ index ];
+		if ( mesh.isInstancedMesh ) {
+
+			const bodies = meshMap.get( mesh );
+			const body = bodies[ index ];
+
+			body.setLinvel( velocity );
+
+		} else if ( mesh.isMesh ) {
 
-		body.setLinvel( velocity );
+			const body = meshMap.get( mesh );
+
+			body.setLinvel( velocity );
+
+		}
 
 	}
 
@@ -168,7 +190,7 @@ async function RapierPhysics() {
 						const position = body.translation();
 						const quaternion = body.rotation();
 
-						new Matrix4().compose( position, quaternion, new Vector3() ).toArray( array, j * 16 );
+						compose( position, quaternion, array, j * 16 );
 
 					}
 
@@ -204,4 +226,34 @@ async function RapierPhysics() {
 
 }
 
+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 { RapierPhysics };