forked from THISISAGOODNAME/learn-ammojs
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathDemo6-softboy-volume.html
644 lines (514 loc) · 21.5 KB
/
Demo6-softboy-volume.html
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
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<title>Demo6 - softboy vulume</title>
<style>
body {
margin: 0;
text-align: center;
}
#info {
position: absolute;
top: 0;
width: 100%;
padding: 10px;
}
</style>
<script src="js/three.js"></script>
<script src="js/libs/ammo.js"></script>
<script src="js/controls/OrbitControls.js"></script>
<script src="js/libs/stats.min.js"></script>
<script src="js/Detector.js"></script>
</head>
<body>
<div id="container"><br/><br/><br/><br/><br/>Loading...</div>
<div id="info">Demo6 - 有体积的柔体</div>
</body>
<script>
"use strict";
// 检测浏览器是否支持webgl
if (!Detector.webgl) {
Detector.addGetWebGLMessage();
document.getElementById('container').innerHTML = '';
}
// 全局变量
// 绘图相关变量
var container, stats;
var camera, controls, scene, renderer;
var textureLoader;
var clock = new THREE.Clock();
var terrainMesh;
// 物理引擎相关变量
var gravityConstant = -9.8;
var collisionConfiguration;
var dispatcher;
var broadphase;
var solver;
var physicsWorld;
var rigidBodies = [];
var margin = 0.05;
var transformAux1 = new Ammo.btTransform();
//
var time = 0;
// 鼠标输入相关
var mouseCoords = new THREE.Vector2();
var raycaster = new THREE.Raycaster();
var ballMaterial = new THREE.MeshPhongMaterial({color: 0x202020});
var maxNumObjectss = 30;
// 柔体物理相关
var hinge;
var cloth;
var softBodySolver;
var softBodies = [];
var softBodyHelpers = new Ammo.btSoftBodyHelpers();
// 支架旋转
var armMovement = 0;
// - 主程序
init();
animate();
// -函数定义
function init() {
initGraphics();
initPhysics();
createObjects();
initInput();
}
function initGraphics() {
// three.js基本场景配置
container = document.getElementById('container');
container.innerHTML = "";
camera = new THREE.PerspectiveCamera(60, window.innerWidth / window.innerHeight, 0.1, 2000);
camera.position.x = -7;
camera.position.y = 5;
camera.position.z = 8;
controls = new THREE.OrbitControls(camera);
controls.target.y = 2;
renderer = new THREE.WebGLRenderer({antialias: true});
renderer.setClearColor(0xbfd1e5);
renderer.setPixelRatio(window.devicePixelRatio);
renderer.setSize(window.innerWidth, window.innerHeight);
renderer.shadowMap.enabled = true;
textureLoader = new THREE.TextureLoader();
// 场景
scene = new THREE.Scene();
// 环境光
var ambientLight = new THREE.AmbientLight(0x404040);
scene.add(ambientLight);
// 线性光
var light = new THREE.DirectionalLight(0xffffff, 1);
light.position.set(-10, 10, 5);
light.castShadow = true;
var d = 10;
light.shadow.camera.left = -d;
light.shadow.camera.right = d;
light.shadow.camera.top = d;
light.shadow.camera.bottom = -d;
light.shadow.camera.near = 2;
light.shadow.camera.far = 2;
light.shadow.mapSize.x = 1024;
light.shadow.mapSize.y = 1024;
scene.add(light);
container.appendChild(renderer.domElement);
// 显示帧数
stats = new Stats();
stats.domElement.style.position = 'absolute';
stats.domElement.style.top = 'absolute';
container.appendChild(stats.domElement);
// 添加窗口大小变化监听
window.addEventListener('resize', onWindowResize, false);
// // 添加坐标轴
// var axis = new THREE.AxisHelper(200);
// scene.add(axis);
}
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight;
camera.updateProjectionMatrix();
renderer.setSize(window.innerWidth, window.innerHeight);
}
function initPhysics() {
// bullet基本场景配置
// collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
/**
* 启动支持肉体的物理引擎
* config，solver和physicsWorld要用softbody版本
* 还要单独创建softBodySolver
*/
collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
broadphase = new Ammo.btDbvtBroadphase();
solver = new Ammo.btSequentialImpulseConstraintSolver();
softBodySolver = new Ammo.btDefaultSoftBodySolver();
physicsWorld = new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration, softBodySolver);
physicsWorld.setGravity(new Ammo.btVector3(0, gravityConstant, 0));
physicsWorld.getWorldInfo().set_m_gravity(new Ammo.btVector3(0, gravityConstant, 0));
}
function createObjects() {
var pos = new THREE.Vector3();
var quat = new THREE.Quaternion();
// 创建地面
pos.set(0, -0.5, 0);
quat.set(0, 0, 0, 1);
var ground = createParallellepiped(40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial({color: 0xffffff}));
ground.castShadow = true; // 开启投影
ground.receiveShadow = true; // 接受阴影(可以在表面上显示阴影)
textureLoader.load("./textures/grid.png", function (texture) {
texture.wrapS = THREE.RepeatWrapping;
texture.wrapT = THREE.RepeatWrapping;
texture.repeat.set(40, 40);
ground.material.map = texture;
ground.material.needsUpdate = texture;
});
// // 生成30个随机物体
// for (var i = 0; i < maxNumObjectss; i++) {
// pos.set(Math.random(), 2 *i, Math.random());
// quat.set(0, 0, 0, 1);
//
// createRondomObject(pos, quat, Math.ceil(Math.random() * 3));
// }
// // 创建一个球
// var ballMass =1.2;
// var ballRadius = 0.6;
//
// var ball = new THREE.Mesh(new THREE.SphereGeometry(ballRadius, 20, 20), new THREE.MeshPhongMaterial( { color: 0x202020 } ));
// ball.castShadow = true;
// ball.receiveShadow = true;
// var ballShape = new Ammo.btSphereShape( ballRadius );
// ballShape.setMargin( margin );
// pos.set( -3, 2, 0 );
// quat.set( 0, 0, 0, 1 );
// createRigidBody( ball, ballShape, ballMass, pos, quat );
// ball.userData.physicsBody.setFriction( 0.5 );
// 创建砖墙
var brickMass = 0.5;
var brickLength = 1.2;
var brickDepth = 0.6;
var brickHeight = brickLength * 0.5;
var numBricksLength = 6;
var numBricksHeight = 8;
var z0 = -numBricksLength * brickLength * 0.5;
pos.set(0, brickHeight * 0.5, z0);
quat.set(0, 0, 0, 1);
for (var j = 0; j < numBricksHeight; j++) {
var oddRow = ( j % 2 ) == 1;
pos.z = z0;
if (oddRow) {
pos.z -= 0.25 * brickLength;
}
var nRow = oddRow ? numBricksLength + 1 : numBricksLength;
for (var i = 0; i < nRow; i++) {
var brickLengthCurrent = brickLength;
var brickMassCurrent = brickMass;
if (oddRow && ( i == 0 || i == nRow - 1 )) {
brickLengthCurrent *= 0.5;
brickMassCurrent *= 0.5;
}
var brick = createParallellepiped(brickDepth, brickHeight, brickLengthCurrent, brickMassCurrent, pos, quat, createRendomColorObjectMeatrial());
brick.castShadow = true;
brick.receiveShadow = true;
if (oddRow && ( i == 0 || i == nRow - 2 )) {
pos.z += 0.75 * brickLength;
}
else {
pos.z += brickLength;
}
}
pos.y += brickHeight;
}
// 创建坡道
pos.set(3, 1, 0);
quat.setFromAxisAngle(new THREE.Vector3(0, 0, 1), 30 * Math.PI / 180);
var obstacle = createParallellepiped(10, 1, 4, 0, pos, quat, new THREE.MeshPhongMaterial({color: 0x606060}));
obstacle.castShadow = true;
obstacle.receiveShadow = true;
// 创建拥有体积的柔体
var volumeMass = 15;
var sphereGeometry = new THREE.SphereBufferGeometry(1.5, 40, 25);
sphereGeometry.translate(5, 5, 0);
createSoftVolume(sphereGeometry, volumeMass, 250);
var boxGeometry = new THREE.BufferGeometry().fromGeometry(new THREE.BoxGeometry(1, 1, 5, 4, 4, 20));
boxGeometry.translate(-2, 5, 0);
createSoftVolume(boxGeometry, volumeMass, 120);
}
// 生成随机形状的物体
function createRondomObject(pos, quat, objectSize) {
var numTypes = 4;
var objectType = Math.ceil(Math.random() * numTypes);
var threeObject = null;
var shape = null;
// var objectSize = 3;
switch (objectType) {
case 1:
// Sphere
var radius = 1 + Math.random() * objectSize;
threeObject = new THREE.Mesh(new THREE.SphereGeometry(radius, 20, 20), createRendomColorObjectMeatrial());
shape = new Ammo.btSphereShape(radius);
shape.setMargin(margin);
break;
case 2:
// Box
var sx = 1 + Math.random() * objectSize;
var sy = 1 + Math.random() * objectSize;
var sz = 1 + Math.random() * objectSize;
threeObject = new THREE.Mesh(new THREE.BoxGeometry(sx, sy, sz, 1, 1, 1), createRendomColorObjectMeatrial());
shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
shape.setMargin(margin);
break;
case 3:
// Cylinder
var radius = 1 + Math.random() * objectSize;
var height = 1 + Math.random() * objectSize;
threeObject = new THREE.Mesh(new THREE.CylinderGeometry(radius, radius, height, 20, 1), createRendomColorObjectMeatrial());
shape = new Ammo.btCylinderShape(new Ammo.btVector3(radius, height * 0.5, radius));
shape.setMargin(margin);
break;
default:
// Cone
var radius = 1 + Math.random() * objectSize;
var height = 2 + Math.random() * objectSize;
threeObject = new THREE.Mesh(new THREE.CylinderGeometry(0, radius, height, 20, 2), createRendomColorObjectMeatrial());
shape = new Ammo.btConeShape(radius, height);
break;
}
var mass = objectSize * 5; // 体积越大质量越大
createRigidBody(threeObject, shape, mass, pos, quat);
}
// 生成随机颜色材质
function createRendomColorObjectMeatrial() {
var color = Math.floor(Math.random() * (1 << 24));
return new THREE.MeshPhongMaterial({color: color});
}
function createParallellepiped(sx, sy, sz, mass, pos, quat, material) {
var threeObject = new THREE.Mesh(new THREE.BoxGeometry(sx, sy, sz, 1, 1, 1), material);
var shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
shape.setMargin(margin);
createRigidBody(threeObject, shape, mass, pos, quat);
return threeObject;
}
function createRigidBody(threeObject, physicsShape, mass, pos, quat) {
threeObject.position.copy(pos);
threeObject.quaternion.copy(quat);
var transform = new Ammo.btTransform();
transform.setIdentity();
transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
transform.setRotation(new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w));
var motionState = new Ammo.btDefaultMotionState(transform);
var localInertia = new Ammo.btVector3(0, 0, 0);
physicsShape.calculateLocalInertia(mass, localInertia);
var rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, physicsShape, localInertia);
var body = new Ammo.btRigidBody(rbInfo);
threeObject.userData.physicsBody = body;
scene.add(threeObject);
if (mass > 0) {
rigidBodies.push(threeObject);
// Disable deactivation
// 防止物体弹力过快消失
// Ammo.DISABLE_DEACTIVATION = 4
body.setActivationState(4);
}
physicsWorld.addRigidBody(body);
return body;
}
function animate() {
requestAnimationFrame(animate);
render();
stats.update();
}
function render() {
var deltaTime = clock.getDelta();
updatePhysics(deltaTime);
controls.update(deltaTime);
renderer.render(scene, camera);
time += deltaTime;
}
function updatePhysics(deltaTime) {
physicsWorld.stepSimulation(deltaTime, 10); // 减少迭代次数提高性能
// 更新物体位置
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());
}
}
// 更新柔体状态
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;
}
}
function initInput() {
window.addEventListener('mousedown', function (event) {
mouseCoords.set(
( event.clientX / window.innerWidth ) * 2 - 1,
-( event.clientY / window.innerHeight ) * 2 + 1
);
raycaster.setFromCamera(mouseCoords, camera);
// Creates a ball and throws it
var ballMass = 3; // 把球质量减轻,防止力量过大让柔体破面进而完全无法计算
var ballRadius = 0.4;
var ball = new THREE.Mesh(new THREE.SphereGeometry(ballRadius, 14, 10), ballMaterial);
ball.castShadow = true;
ball.receiveShadow = true;
var ballShape = new Ammo.btSphereShape(ballRadius);
ballShape.setMargin(margin);
var pos = new THREE.Vector3();
var quat = new THREE.Quaternion();
pos.copy(raycaster.ray.direction);
pos.add(raycaster.ray.origin);
quat.set(0, 0, 0, 1);
var ballBody = createRigidBody(ball, ballShape, ballMass, pos, quat);
pos.copy(raycaster.ray.direction);
pos.multiplyScalar(24);
ballBody.setLinearVelocity(new Ammo.btVector3(pos.x, pos.y, pos.z));
}, false);
}
// // 生成带体积的柔体的函数
//
//fun1 判断误差范围内两向量相等的函数
function isEqual(x1, y1, z1, x2, y2, z2) {
var delta = 0.000001;
return Math.abs(x1 - x2) < delta &&
Math.abs(y1 - y2) < delta &&
Math.abs(z1 - z2) < delta;
}
//
function createIndexedBufferGeometryFromGeometry(geometry) {
var numVertices = geometry.vertices.length;
var numFaces = geometry.faces.length;
var bufferGeom = new THREE.BufferGeometry();
var vertices = new Float32Array(numVertices * 3);
var indices = new ( numFaces * 3 > 65535 ? Uint32Array : Uint16Array )(numFaces * 3);
for (var i = 0; i < numVertices; i++) {
var p = geometry.vertices[i];
var i3 = i * 3;
vertices[i3] = p.x;
vertices[i3 + 1] = p.y;
vertices[i3 + 2] = p.z;
}
for (var i = 0; i < numFaces; i++) {
var f = geometry.faces[i];
var i3 = i * 3;
indices[i3] = f.a;
indices[i3 + 1] = f.b;
indices[i3 + 2] = f.c;
}
bufferGeom.setIndex(new THREE.BufferAttribute(indices, 1));
bufferGeom.addAttribute('position', new THREE.BufferAttribute(vertices, 3));
return bufferGeom;
}
function mapIndices(bufGeometry, indexedBufferGeom) {
// Creates ammoVertices, ammoIndices and ammoIndexAssociation in bufGeometry
var vertices = bufGeometry.attributes.position.array;
var idxVertices = indexedBufferGeom.attributes.position.array;
var indices = indexedBufferGeom.index.array;
var numIdxVertices = idxVertices.length / 3;
var numVertices = vertices.length / 3;
bufGeometry.ammoVertices = idxVertices;
bufGeometry.ammoIndices = indices;
bufGeometry.ammoIndexAssociation = [];
for (var i = 0; i < numIdxVertices; i++) {
var association = [];
bufGeometry.ammoIndexAssociation.push(association);
var i3 = i * 3;
for (var j = 0; j < numVertices; j++) {
var j3 = j * 3;
if (isEqual(idxVertices[i3], idxVertices[i3 + 1], idxVertices[i3 + 2],
vertices[j3], vertices[j3 + 1], vertices[j3 + 2])) {
association.push(j3);
}
}
}
}
function processGeometry(bufGeometry) {
// Obtain a Geometry
// var geometry = new THREE.Geometry().fromBufferGeometry(bufGeometry);
var geometry = new THREE.Geometry().fromBufferGeometry( bufGeometry );
// Merge the vertices so the triangle soup is converted to indexed triangles
// var vertsDiff = geometry.mergeVertices();
geometry.mergeVertices();
// Convert again to BufferGeometry, indexed
// var indexedBufferGeom = createIndexedBufferGeometryFromGeometry(geometry);
var indexedBufferGeom = createIndexedBufferGeometryFromGeometry(geometry);
// Create index arrays mapping the indexed vertices to bufGeometry vertices
mapIndices(bufGeometry, indexedBufferGeom);
}
function createSoftVolume(bufferGeom, mass, pressure) {
processGeometry(bufferGeom);
// 渲染空间中的柔体
var volume = new THREE.Mesh(bufferGeom, new THREE.MeshPhongMaterial({color: 0x00EE00}));
volume.castShadow = true;
volume.receiveShadow = true;
volume.frustumCulled = false;
scene.add(volume);
// 物理空间中的柔体
var volumeSoftBody = softBodyHelpers.CreateFromTriMesh(
physicsWorld.getWorldInfo(),
bufferGeom.ammoVertices,
bufferGeom.ammoIndices,
bufferGeom.ammoIndices.length / 3,
true);
var sbConfig = volumeSoftBody.get_m_cfg();
sbConfig.set_viterations(40);
sbConfig.set_piterations(40);
// Soft-soft and soft-rigid collisions
sbConfig.set_collisions(0x11);
// Friction 摩擦因数
sbConfig.set_kDF(0.1);
// Damping 阻尼
sbConfig.set_kDP(0.01);
// Pressure 压力
sbConfig.set_kPR(pressure);
// Stiffness 强度
volumeSoftBody.get_m_materials().at(0).set_m_kLST(0.9);
volumeSoftBody.get_m_materials().at(0).set_m_kAST(0.9);
// Soft-soft and soft-rigid collisions
sbConfig.set_collisions(0x11);
volumeSoftBody.setTotalMass(mass, false);
Ammo.castObject(volumeSoftBody, Ammo.btCollisionObject).getCollisionShape().setMargin(margin);
physicsWorld.addSoftBody(volumeSoftBody, 1, -1);
volume.userData.physicsBody = volumeSoftBody;
// Disable deactivation
// Ammo.DISABLE_DEACTIVATION = 4
volumeSoftBody.setActivationState(4);
softBodies.push(volume);
}
</script>
</html>