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| 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 | import dispatcher from './lib/dispatcher';
import world from './world';
import {
applyMatrix4ToVector3
} from './lib/math';
import {
DEFAULT_RIGIDBODY_STATE,
TYPES,
DEFAULT_SCALE,
DISABLE_DEACTIVATION,
DEFAULT_LINEAR_VELOCITY,
DEFAULT_IMPULSE
} from '../constants';
export const createRigidBody = (shape, options) => {
const {
uuid,
position,
quaternion,
mass,
friction,
restitution = .9,
damping = { linear: 0.2, angular: 0.2 }
} = options;
const transform = new Ammo.btTransform();
transform.setIdentity();
transform.setOrigin(new Ammo.btVector3(position.x, position.y, position.z));
transform.setRotation(new Ammo.btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
const motionState = new Ammo.btDefaultMotionState(transform);
const localInertia = new Ammo.btVector3(0, 0, 0);
shape.calculateLocalInertia(mass, localInertia);
const rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, shape, localInertia);
const body = new Ammo.btRigidBody(rbInfo);
if (mass > 0) {
body.setFriction(friction);
body.setRestitution(restitution);
body.setDamping(damping.linear, damping.angular);
body.setActivationState(DISABLE_DEACTIVATION);
}
// storing uuid for future reference
body.uuid = uuid;
world.addRigidBody(body);
return body;
}
export const addModel = (options) => {
const {
uuid,
vertices,
matrices,
indexes,
position,
quaternion,
mass = 0,
friction = 2
} = options;
const scale = DEFAULT_SCALE;
const bta = new Ammo.btVector3();
const btb = new Ammo.btVector3();
const btc = new Ammo.btVector3();
const triMesh = new Ammo.btTriangleMesh(true, false);
for (let i = 0; i < vertices.length; i++) {
const components = vertices[i];
const index = indexes[i] ? indexes[i] : null;
const matrix = Array.from(matrices[i]);
if (index) {
for (let j = 0; j < index.length; j += 3) {
const ai = index[j] * 3;
const bi = index[j + 1] * 3;
const ci = index[j + 2] * 3;
const va = applyMatrix4ToVector3({ x: components[ai], y: components[ai + 1], z: components[ai + 2] }, matrix);
const vb = applyMatrix4ToVector3({ x: components[bi], y: components[bi + 1], z: components[bi + 2] }, matrix);
const vc = applyMatrix4ToVector3({ x: components[ci], y: components[ci + 1], z: components[ci + 2] }, matrix);
bta.setValue(va.x, va.y, va.z);
btb.setValue(vb.x, vb.y, vb.z);
btc.setValue(vc.x, vc.y, vc.z);
triMesh.addTriangle(bta, btb, btc, false);
}
} else {
for (let j = 0; j < components.length; j += 9) {
const va = applyMatrix4ToVector3({ x: components[j + 0], y: components[j + 1], z: components[j + 2] }, matrix);
const vb = applyMatrix4ToVector3({ x: components[j + 3], y: components[j + 4], z: components[j + 5] }, matrix);
const vc = applyMatrix4ToVector3({ x: components[j + 6], y: components[j + 7], z: components[j + 8] }, matrix);
bta.setValue(va.x, va.y, va.z);
btb.setValue(vb.x, vb.y, vb.z);
btc.setValue(vc.x, vc.y, vc.z);
triMesh.addTriangle(bta, btb, btc, false);
}
}
}
const localScale = new Ammo.btVector3(scale.x, scale.y, scale.z);
triMesh.setScaling(localScale);
Ammo.destroy(localScale);
const collisionShape = new Ammo.btBvhTriangleMeshShape(triMesh, true, true);
collisionShape.resources = [triMesh];
Ammo.destroy(bta);
Ammo.destroy(btb);
Ammo.destroy(btc);
const body = createRigidBody(collisionShape, { uuid, position, quaternion, mass, friction });
world.addElement({ uuid, body, type: TYPES.MESH, state: DEFAULT_RIGIDBODY_STATE });
}
export const addBox = (data) => {
const { uuid, width, length, height, position, quaternion, mass = 0, friction = 2 } = data;
const geometry = new Ammo.btBoxShape(new Ammo.btVector3(width * 0.5, height * 0.5, length * 0.5));
const body = createRigidBody(geometry, { uuid, position, quaternion, mass, friction });
world.addElement({ uuid, body, type: TYPES.BOX, state: DEFAULT_RIGIDBODY_STATE });
};
export const addSphere = data => {
const { uuid, radius, position, quaternion, mass = 0, friction = 2 } = data;
const geometry = new Ammo.btSphereShape(radius);
const body = createRigidBody(geometry, { uuid, position, quaternion, mass, friction });
world.addElement({ uuid, body, type: TYPES.SPHERE, state: DEFAULT_RIGIDBODY_STATE });
};
export const setLinearVelocity = (data) => {
const { uuid, velocity = DEFAULT_LINEAR_VELOCITY } = data;
const { body } = world.getElement(uuid);
const motionState = body.getMotionState();
if (motionState) {
const linearVelocity = new Ammo.btVector3(velocity.x, velocity.y, velocity.z);
body.setLinearVelocity(linearVelocity);
Ammo.destroy(linearVelocity);
}
};
export const setPosition = data => {
const { uuid, position } = data;
const { body } = world.getElement(uuid);
const transform = new Ammo.btTransform();
body.getWorldTransform(transform);
transform.setOrigin(new Ammo.btVector3(position.x, position.y, position.z ));
body.setWorldTransform(transform);
}
export const resetElement = data => {
const { uuid, position, quaternion } = data;
const { body } = world.getElement(uuid);
const transform = new Ammo.btTransform();
body.getWorldTransform(transform);
transform.setOrigin(new Ammo.btVector3(position.x, position.y, position.z ));
transform.setRotation(new Ammo.btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
body.setWorldTransform(transform);
}
export const applyImpuse = ({ uuid, impulse = DEFAULT_IMPULSE }) => {
const { body } = world.getElement(uuid);
const motionState = body.getMotionState();
if (motionState) {
const impulseVector = new Ammo.btVector3(impulse.x, impulse.y, impulse.z);
body.applyCentralImpulse(impulseVector);
Ammo.destroy(impulseVector);
}
}
export const handleElementUpdate = ({ body, uuid, state = DEFAULT_RIGIDBODY_STATE }, dt) => {
const motionState = body.getMotionState();
if (motionState) {
const transform = new Ammo.btTransform();
motionState.getWorldTransform(transform);
let origin = transform.getOrigin();
let rotation = transform.getRotation();
dispatcher.sendBodyUpdate(uuid, origin, rotation, dt);
Ammo.destroy(transform);
}
} |