( function () {
/**
* Dependencies
* - Ammo.js https://github.com/kripken/ammo.js
*
* MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)
* for MMD model loaded by MMDLoader.
*
* TODO
* - Physics in Worker
*/
/* global Ammo */
class MMDPhysics {
/**
* @param {THREE.SkinnedMesh} mesh
* @param {Array<Object>} rigidBodyParams
* @param {Array<Object>} (optional) constraintParams
* @param {Object} params - (optional)
* @param {Number} params.unitStep - Default is 1 / 65.
* @param {Integer} params.maxStepNum - Default is 3.
* @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )
*/
constructor( mesh, rigidBodyParams, constraintParams = [], params = {} ) {
if ( typeof Ammo === 'undefined' ) {
throw new Error( 'THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js' );
}
this.manager = new ResourceManager();
this.mesh = mesh;
/*
* I don't know why but 1/60 unitStep easily breaks models
* so I set it 1/65 so far.
* Don't set too small unitStep because
* the smaller unitStep can make the performance worse.
*/
this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65;
this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3;
this.gravity = new THREE.Vector3( 0, - 9.8 * 10, 0 );
if ( params.gravity !== undefined ) this.gravity.copy( params.gravity );
this.world = params.world !== undefined ? params.world : null; // experimental
this.bodies = [];
this.constraints = [];
this._init( mesh, rigidBodyParams, constraintParams );
}
/**
* Advances Physics calculation and updates bones.
*
* @param {Number} delta - time in second
* @return {MMDPhysics}
*/
update( delta ) {
const manager = this.manager;
const mesh = this.mesh; // rigid bodies and constrains are for
// mesh's world scale (1, 1, 1).
// Convert to (1, 1, 1) if it isn't.
let isNonDefaultScale = false;
const position = manager.allocThreeVector3();
const quaternion = manager.allocThreeQuaternion();
const scale = manager.allocThreeVector3();
mesh.matrixWorld.decompose( position, quaternion, scale );
if ( scale.x !== 1 || scale.y !== 1 || scale.z !== 1 ) {
isNonDefaultScale = true;
}
let parent;
if ( isNonDefaultScale ) {
parent = mesh.parent;
if ( parent !== null ) mesh.parent = null;
scale.copy( this.mesh.scale );
mesh.scale.set( 1, 1, 1 );
mesh.updateMatrixWorld( true );
} // calculate physics and update bones
this._updateRigidBodies();
this._stepSimulation( delta );
this._updateBones(); // restore mesh if converted above
if ( isNonDefaultScale ) {
if ( parent !== null ) mesh.parent = parent;
mesh.scale.copy( scale );
}
manager.freeThreeVector3( scale );
manager.freeThreeQuaternion( quaternion );
manager.freeThreeVector3( position );
return this;
}
/**
* Resets rigid bodies transorm to current bone's.
*
* @return {MMDPhysics}
*/
reset() {
for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
this.bodies[ i ].reset();
}
return this;
}
/**
* Warm ups Rigid bodies. Calculates cycles steps.
*
* @param {Integer} cycles
* @return {MMDPhysics}
*/
warmup( cycles ) {
for ( let i = 0; i < cycles; i ++ ) {
this.update( 1 / 60 );
}
return this;
}
/**
* Sets gravity.
*
* @param {Vector3} gravity
* @return {MMDPhysicsHelper}
*/
setGravity( gravity ) {
this.world.setGravity( new Ammo.btVector3( gravity.x, gravity.y, gravity.z ) );
this.gravity.copy( gravity );
return this;
}
/**
* Creates MMDPhysicsHelper
*
* @return {MMDPhysicsHelper}
*/
createHelper() {
return new MMDPhysicsHelper( this.mesh, this );
} // private methods
_init( mesh, rigidBodyParams, constraintParams ) {
const manager = this.manager; // rigid body/constraint parameters are for
// mesh's default world transform as position(0, 0, 0),
// quaternion(0, 0, 0, 1) and scale(0, 0, 0)
const parent = mesh.parent;
if ( parent !== null ) mesh.parent = null;
const currentPosition = manager.allocThreeVector3();
const currentQuaternion = manager.allocThreeQuaternion();
const currentScale = manager.allocThreeVector3();
currentPosition.copy( mesh.position );
currentQuaternion.copy( mesh.quaternion );
currentScale.copy( mesh.scale );
mesh.position.set( 0, 0, 0 );
mesh.quaternion.set( 0, 0, 0, 1 );
mesh.scale.set( 1, 1, 1 );
mesh.updateMatrixWorld( true );
if ( this.world === null ) {
this.world = this._createWorld();
this.setGravity( this.gravity );
}
this._initRigidBodies( rigidBodyParams );
this._initConstraints( constraintParams );
if ( parent !== null ) mesh.parent = parent;
mesh.position.copy( currentPosition );
mesh.quaternion.copy( currentQuaternion );
mesh.scale.copy( currentScale );
mesh.updateMatrixWorld( true );
this.reset();
manager.freeThreeVector3( currentPosition );
manager.freeThreeQuaternion( currentQuaternion );
manager.freeThreeVector3( currentScale );
}
_createWorld() {
const config = new Ammo.btDefaultCollisionConfiguration();
const dispatcher = new Ammo.btCollisionDispatcher( config );
const cache = new Ammo.btDbvtBroadphase();
const solver = new Ammo.btSequentialImpulseConstraintSolver();
const world = new Ammo.btDiscreteDynamicsWorld( dispatcher, cache, solver, config );
return world;
}
_initRigidBodies( rigidBodies ) {
for ( let i = 0, il = rigidBodies.length; i < il; i ++ ) {
this.bodies.push( new RigidBody( this.mesh, this.world, rigidBodies[ i ], this.manager ) );
}
}
_initConstraints( constraints ) {
for ( let i = 0, il = constraints.length; i < il; i ++ ) {
const params = constraints[ i ];
const bodyA = this.bodies[ params.rigidBodyIndex1 ];
const bodyB = this.bodies[ params.rigidBodyIndex2 ];
this.constraints.push( new Constraint( this.mesh, this.world, bodyA, bodyB, params, this.manager ) );
}
}
_stepSimulation( delta ) {
const unitStep = this.unitStep;
let stepTime = delta;
let maxStepNum = ( delta / unitStep | 0 ) + 1;
if ( stepTime < unitStep ) {
stepTime = unitStep;
maxStepNum = 1;
}
if ( maxStepNum > this.maxStepNum ) {
maxStepNum = this.maxStepNum;
}
this.world.stepSimulation( stepTime, maxStepNum, unitStep );
}
_updateRigidBodies() {
for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
this.bodies[ i ].updateFromBone();
}
}
_updateBones() {
for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
this.bodies[ i ].updateBone();
}
}
}
/**
* This manager's responsibilies are
*
* 1. manage Ammo.js and Three.js object resources and
* improve the performance and the memory consumption by
* reusing objects.
*
* 2. provide simple Ammo object operations.
*/
class ResourceManager {
constructor() {
// for Three.js
this.threeVector3s = [];
this.threeMatrix4s = [];
this.threeQuaternions = [];
this.threeEulers = []; // for Ammo.js
this.transforms = [];
this.quaternions = [];
this.vector3s = [];
}
allocThreeVector3() {
return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new THREE.Vector3();
}
freeThreeVector3( v ) {
this.threeVector3s.push( v );
}
allocThreeMatrix4() {
return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new THREE.Matrix4();
}
freeThreeMatrix4( m ) {
this.threeMatrix4s.push( m );
}
allocThreeQuaternion() {
return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new THREE.Quaternion();
}
freeThreeQuaternion( q ) {
this.threeQuaternions.push( q );
}
allocThreeEuler() {
return this.threeEulers.length > 0 ? this.threeEulers.pop() : new THREE.Euler();
}
freeThreeEuler( e ) {
this.threeEulers.push( e );
}
allocTransform() {
return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform();
}
freeTransform( t ) {
this.transforms.push( t );
}
allocQuaternion() {
return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion();
}
freeQuaternion( q ) {
this.quaternions.push( q );
}
allocVector3() {
return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3();
}
freeVector3( v ) {
this.vector3s.push( v );
}
setIdentity( t ) {
t.setIdentity();
}
getBasis( t ) {
var q = this.allocQuaternion();
t.getBasis().getRotation( q );
return q;
}
getBasisAsMatrix3( t ) {
var q = this.getBasis( t );
var m = this.quaternionToMatrix3( q );
this.freeQuaternion( q );
return m;
}
getOrigin( t ) {
return t.getOrigin();
}
setOrigin( t, v ) {
t.getOrigin().setValue( v.x(), v.y(), v.z() );
}
copyOrigin( t1, t2 ) {
var o = t2.getOrigin();
this.setOrigin( t1, o );
}
setBasis( t, q ) {
t.setRotation( q );
}
setBasisFromMatrix3( t, m ) {
var q = this.matrix3ToQuaternion( m );
this.setBasis( t, q );
this.freeQuaternion( q );
}
setOriginFromArray3( t, a ) {
t.getOrigin().setValue( a[ 0 ], a[ 1 ], a[ 2 ] );
}
setOriginFromThreeVector3( t, v ) {
t.getOrigin().setValue( v.x, v.y, v.z );
}
setBasisFromArray3( t, a ) {
var thQ = this.allocThreeQuaternion();
var thE = this.allocThreeEuler();
thE.set( a[ 0 ], a[ 1 ], a[ 2 ] );
this.setBasisFromThreeQuaternion( t, thQ.setFromEuler( thE ) );
this.freeThreeEuler( thE );
this.freeThreeQuaternion( thQ );
}
setBasisFromThreeQuaternion( t, a ) {
var q = this.allocQuaternion();
q.setX( a.x );
q.setY( a.y );
q.setZ( a.z );
q.setW( a.w );
this.setBasis( t, q );
this.freeQuaternion( q );
}
multiplyTransforms( t1, t2 ) {
var t = this.allocTransform();
this.setIdentity( t );
var m1 = this.getBasisAsMatrix3( t1 );
var m2 = this.getBasisAsMatrix3( t2 );
var o1 = this.getOrigin( t1 );
var o2 = this.getOrigin( t2 );
var v1 = this.multiplyMatrix3ByVector3( m1, o2 );
var v2 = this.addVector3( v1, o1 );
this.setOrigin( t, v2 );
var m3 = this.multiplyMatrices3( m1, m2 );
this.setBasisFromMatrix3( t, m3 );
this.freeVector3( v1 );
this.freeVector3( v2 );
return t;
}
inverseTransform( t ) {
var t2 = this.allocTransform();
var m1 = this.getBasisAsMatrix3( t );
var o = this.getOrigin( t );
var m2 = this.transposeMatrix3( m1 );
var v1 = this.negativeVector3( o );
var v2 = this.multiplyMatrix3ByVector3( m2, v1 );
this.setOrigin( t2, v2 );
this.setBasisFromMatrix3( t2, m2 );
this.freeVector3( v1 );
this.freeVector3( v2 );
return t2;
}
multiplyMatrices3( m1, m2 ) {
var m3 = [];
var v10 = this.rowOfMatrix3( m1, 0 );
var v11 = this.rowOfMatrix3( m1, 1 );
var v12 = this.rowOfMatrix3( m1, 2 );
var v20 = this.columnOfMatrix3( m2, 0 );
var v21 = this.columnOfMatrix3( m2, 1 );
var v22 = this.columnOfMatrix3( m2, 2 );
m3[ 0 ] = this.dotVectors3( v10, v20 );
m3[ 1 ] = this.dotVectors3( v10, v21 );
m3[ 2 ] = this.dotVectors3( v10, v22 );
m3[ 3 ] = this.dotVectors3( v11, v20 );
m3[ 4 ] = this.dotVectors3( v11, v21 );
m3[ 5 ] = this.dotVectors3( v11, v22 );
m3[ 6 ] = this.dotVectors3( v12, v20 );
m3[ 7 ] = this.dotVectors3( v12, v21 );
m3[ 8 ] = this.dotVectors3( v12, v22 );
this.freeVector3( v10 );
this.freeVector3( v11 );
this.freeVector3( v12 );
this.freeVector3( v20 );
this.freeVector3( v21 );
this.freeVector3( v22 );
return m3;
}
addVector3( v1, v2 ) {
var v = this.allocVector3();
v.setValue( v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z() );
return v;
}
dotVectors3( v1, v2 ) {
return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
}
rowOfMatrix3( m, i ) {
var v = this.allocVector3();
v.setValue( m[ i * 3 + 0 ], m[ i * 3 + 1 ], m[ i * 3 + 2 ] );
return v;
}
columnOfMatrix3( m, i ) {
var v = this.allocVector3();
v.setValue( m[ i + 0 ], m[ i + 3 ], m[ i + 6 ] );
return v;
}
negativeVector3( v ) {
var v2 = this.allocVector3();
v2.setValue( - v.x(), - v.y(), - v.z() );
return v2;
}
multiplyMatrix3ByVector3( m, v ) {
var v4 = this.allocVector3();
var v0 = this.rowOfMatrix3( m, 0 );
var v1 = this.rowOfMatrix3( m, 1 );
var v2 = this.rowOfMatrix3( m, 2 );
var x = this.dotVectors3( v0, v );
var y = this.dotVectors3( v1, v );
var z = this.dotVectors3( v2, v );
v4.setValue( x, y, z );
this.freeVector3( v0 );
this.freeVector3( v1 );
this.freeVector3( v2 );
return v4;
}
transposeMatrix3( m ) {
var m2 = [];
m2[ 0 ] = m[ 0 ];
m2[ 1 ] = m[ 3 ];
m2[ 2 ] = m[ 6 ];
m2[ 3 ] = m[ 1 ];
m2[ 4 ] = m[ 4 ];
m2[ 5 ] = m[ 7 ];
m2[ 6 ] = m[ 2 ];
m2[ 7 ] = m[ 5 ];
m2[ 8 ] = m[ 8 ];
return m2;
}
quaternionToMatrix3( q ) {
var m = [];
var x = q.x();
var y = q.y();
var z = q.z();
var w = q.w();
var xx = x * x;
var yy = y * y;
var zz = z * z;
var xy = x * y;
var yz = y * z;
var zx = z * x;
var xw = x * w;
var yw = y * w;
var zw = z * w;
m[ 0 ] = 1 - 2 * ( yy + zz );
m[ 1 ] = 2 * ( xy - zw );
m[ 2 ] = 2 * ( zx + yw );
m[ 3 ] = 2 * ( xy + zw );
m[ 4 ] = 1 - 2 * ( zz + xx );
m[ 5 ] = 2 * ( yz - xw );
m[ 6 ] = 2 * ( zx - yw );
m[ 7 ] = 2 * ( yz + xw );
m[ 8 ] = 1 - 2 * ( xx + yy );
return m;
}
matrix3ToQuaternion( m ) {
var t = m[ 0 ] + m[ 4 ] + m[ 8 ];
var s, x, y, z, w;
if ( t > 0 ) {
s = Math.sqrt( t + 1.0 ) * 2;
w = 0.25 * s;
x = ( m[ 7 ] - m[ 5 ] ) / s;
y = ( m[ 2 ] - m[ 6 ] ) / s;
z = ( m[ 3 ] - m[ 1 ] ) / s;
} else if ( m[ 0 ] > m[ 4 ] && m[ 0 ] > m[ 8 ] ) {
s = Math.sqrt( 1.0 + m[ 0 ] - m[ 4 ] - m[ 8 ] ) * 2;
w = ( m[ 7 ] - m[ 5 ] ) / s;
x = 0.25 * s;
y = ( m[ 1 ] + m[ 3 ] ) / s;
z = ( m[ 2 ] + m[ 6 ] ) / s;
} else if ( m[ 4 ] > m[ 8 ] ) {
s = Math.sqrt( 1.0 + m[ 4 ] - m[ 0 ] - m[ 8 ] ) * 2;
w = ( m[ 2 ] - m[ 6 ] ) / s;
x = ( m[ 1 ] + m[ 3 ] ) / s;
y = 0.25 * s;
z = ( m[ 5 ] + m[ 7 ] ) / s;
} else {
s = Math.sqrt( 1.0 + m[ 8 ] - m[ 0 ] - m[ 4 ] ) * 2;
w = ( m[ 3 ] - m[ 1 ] ) / s;
x = ( m[ 2 ] + m[ 6 ] ) / s;
y = ( m[ 5 ] + m[ 7 ] ) / s;
z = 0.25 * s;
}
var q = this.allocQuaternion();
q.setX( x );
q.setY( y );
q.setZ( z );
q.setW( w );
return q;
}
}
/**
* @param {THREE.SkinnedMesh} mesh
* @param {Ammo.btDiscreteDynamicsWorld} world
* @param {Object} params
* @param {ResourceManager} manager
*/
class RigidBody {
constructor( mesh, world, params, manager ) {
this.mesh = mesh;
this.world = world;
this.params = params;
this.manager = manager;
this.body = null;
this.bone = null;
this.boneOffsetForm = null;
this.boneOffsetFormInverse = null;
this._init();
}
/**
* Resets rigid body transform to the current bone's.
*
* @return {RigidBody}
*/
reset() {
this._setTransformFromBone();
return this;
}
/**
* Updates rigid body's transform from the current bone.
*
* @return {RidigBody}
*/
updateFromBone() {
if ( this.params.boneIndex !== - 1 && this.params.type === 0 ) {
this._setTransformFromBone();
}
return this;
}
/**
* Updates bone from the current ridid body's transform.
*
* @return {RidigBody}
*/
updateBone() {
if ( this.params.type === 0 || this.params.boneIndex === - 1 ) {
return this;
}
this._updateBoneRotation();
if ( this.params.type === 1 ) {
this._updateBonePosition();
}
this.bone.updateMatrixWorld( true );
if ( this.params.type === 2 ) {
this._setPositionFromBone();
}
return this;
} // private methods
_init() {
function generateShape( p ) {
switch ( p.shapeType ) {
case 0:
return new Ammo.btSphereShape( p.width );
case 1:
return new Ammo.btBoxShape( new Ammo.btVector3( p.width, p.height, p.depth ) );
case 2:
return new Ammo.btCapsuleShape( p.width, p.height );
default:
throw new Error( 'unknown shape type ' + p.shapeType );
}
}
const manager = this.manager;
const params = this.params;
const bones = this.mesh.skeleton.bones;
const bone = params.boneIndex === - 1 ? new THREE.Bone() : bones[ params.boneIndex ];
const shape = generateShape( params );
const weight = params.type === 0 ? 0 : params.weight;
const localInertia = manager.allocVector3();
localInertia.setValue( 0, 0, 0 );
if ( weight !== 0 ) {
shape.calculateLocalInertia( weight, localInertia );
}
const boneOffsetForm = manager.allocTransform();
manager.setIdentity( boneOffsetForm );
manager.setOriginFromArray3( boneOffsetForm, params.position );
manager.setBasisFromArray3( boneOffsetForm, params.rotation );
const vector = manager.allocThreeVector3();
const boneForm = manager.allocTransform();
manager.setIdentity( boneForm );
manager.setOriginFromThreeVector3( boneForm, bone.getWorldPosition( vector ) );
const form = manager.multiplyTransforms( boneForm, boneOffsetForm );
const state = new Ammo.btDefaultMotionState( form );
const info = new Ammo.btRigidBodyConstructionInfo( weight, state, shape, localInertia );
info.set_m_friction( params.friction );
info.set_m_restitution( params.restitution );
const body = new Ammo.btRigidBody( info );
if ( params.type === 0 ) {
body.setCollisionFlags( body.getCollisionFlags() | 2 );
/*
* It'd be better to comment out this line though in general I should call this method
* because I'm not sure why but physics will be more like MMD's
* if I comment out.
*/
body.setActivationState( 4 );
}
body.setDamping( params.positionDamping, params.rotationDamping );
body.setSleepingThresholds( 0, 0 );
this.world.addRigidBody( body, 1 << params.groupIndex, params.groupTarget );
this.body = body;
this.bone = bone;
this.boneOffsetForm = boneOffsetForm;
this.boneOffsetFormInverse = manager.inverseTransform( boneOffsetForm );
manager.freeVector3( localInertia );
manager.freeTransform( form );
manager.freeTransform( boneForm );
manager.freeThreeVector3( vector );
}
_getBoneTransform() {
const manager = this.manager;
const p = manager.allocThreeVector3();
const q = manager.allocThreeQuaternion();
const s = manager.allocThreeVector3();
this.bone.matrixWorld.decompose( p, q, s );
const tr = manager.allocTransform();
manager.setOriginFromThreeVector3( tr, p );
manager.setBasisFromThreeQuaternion( tr, q );
const form = manager.multiplyTransforms( tr, this.boneOffsetForm );
manager.freeTransform( tr );
manager.freeThreeVector3( s );
manager.freeThreeQuaternion( q );
manager.freeThreeVector3( p );
return form;
}
_getWorldTransformForBone() {
const manager = this.manager;
const tr = this.body.getCenterOfMassTransform();
return manager.multiplyTransforms( tr, this.boneOffsetFormInverse );
}
_setTransformFromBone() {
const manager = this.manager;
const form = this._getBoneTransform(); // TODO: check the most appropriate way to set
//this.body.setWorldTransform( form );
this.body.setCenterOfMassTransform( form );
this.body.getMotionState().setWorldTransform( form );
manager.freeTransform( form );
}
_setPositionFromBone() {
const manager = this.manager;
const form = this._getBoneTransform();
const tr = manager.allocTransform();
this.body.getMotionState().getWorldTransform( tr );
manager.copyOrigin( tr, form ); // TODO: check the most appropriate way to set
//this.body.setWorldTransform( tr );
this.body.setCenterOfMassTransform( tr );
this.body.getMotionState().setWorldTransform( tr );
manager.freeTransform( tr );
manager.freeTransform( form );
}
_updateBoneRotation() {
const manager = this.manager;
const tr = this._getWorldTransformForBone();
const q = manager.getBasis( tr );
const thQ = manager.allocThreeQuaternion();
const thQ2 = manager.allocThreeQuaternion();
const thQ3 = manager.allocThreeQuaternion();
thQ.set( q.x(), q.y(), q.z(), q.w() );
thQ2.setFromRotationMatrix( this.bone.matrixWorld );
thQ2.conjugate();
thQ2.multiply( thQ ); //this.bone.quaternion.multiply( thQ2 );
thQ3.setFromRotationMatrix( this.bone.matrix ); // Renormalizing quaternion here because repeatedly transforming
// quaternion continuously accumulates floating point error and
// can end up being overflow. See #15335
this.bone.quaternion.copy( thQ2.multiply( thQ3 ).normalize() );
manager.freeThreeQuaternion( thQ );
manager.freeThreeQuaternion( thQ2 );
manager.freeThreeQuaternion( thQ3 );
manager.freeQuaternion( q );
manager.freeTransform( tr );
}
_updateBonePosition() {
const manager = this.manager;
const tr = this._getWorldTransformForBone();
const thV = manager.allocThreeVector3();
const o = manager.getOrigin( tr );
thV.set( o.x(), o.y(), o.z() );
if ( this.bone.parent ) {
this.bone.parent.worldToLocal( thV );
}
this.bone.position.copy( thV );
manager.freeThreeVector3( thV );
manager.freeTransform( tr );
}
} //
class Constraint {
/**
* @param {THREE.SkinnedMesh} mesh
* @param {Ammo.btDiscreteDynamicsWorld} world
* @param {RigidBody} bodyA
* @param {RigidBody} bodyB
* @param {Object} params
* @param {ResourceManager} manager
*/
constructor( mesh, world, bodyA, bodyB, params, manager ) {
this.mesh = mesh;
this.world = world;
this.bodyA = bodyA;
this.bodyB = bodyB;
this.params = params;
this.manager = manager;
this.constraint = null;
this._init();
} // private method
_init() {
const manager = this.manager;
const params = this.params;
const bodyA = this.bodyA;
const bodyB = this.bodyB;
const form = manager.allocTransform();
manager.setIdentity( form );
manager.setOriginFromArray3( form, params.position );
manager.setBasisFromArray3( form, params.rotation );
const formA = manager.allocTransform();
const formB = manager.allocTransform();
bodyA.body.getMotionState().getWorldTransform( formA );
bodyB.body.getMotionState().getWorldTransform( formB );
const formInverseA = manager.inverseTransform( formA );
const formInverseB = manager.inverseTransform( formB );
const formA2 = manager.multiplyTransforms( formInverseA, form );
const formB2 = manager.multiplyTransforms( formInverseB, form );
const constraint = new Ammo.btGeneric6DofSpringConstraint( bodyA.body, bodyB.body, formA2, formB2, true );
const lll = manager.allocVector3();
const lul = manager.allocVector3();
const all = manager.allocVector3();
const aul = manager.allocVector3();
lll.setValue( params.translationLimitation1[ 0 ], params.translationLimitation1[ 1 ], params.translationLimitation1[ 2 ] );
lul.setValue( params.translationLimitation2[ 0 ], params.translationLimitation2[ 1 ], params.translationLimitation2[ 2 ] );
all.setValue( params.rotationLimitation1[ 0 ], params.rotationLimitation1[ 1 ], params.rotationLimitation1[ 2 ] );
aul.setValue( params.rotationLimitation2[ 0 ], params.rotationLimitation2[ 1 ], params.rotationLimitation2[ 2 ] );
constraint.setLinearLowerLimit( lll );
constraint.setLinearUpperLimit( lul );
constraint.setAngularLowerLimit( all );
constraint.setAngularUpperLimit( aul );
for ( let i = 0; i < 3; i ++ ) {
if ( params.springPosition[ i ] !== 0 ) {
constraint.enableSpring( i, true );
constraint.setStiffness( i, params.springPosition[ i ] );
}
}
for ( let i = 0; i < 3; i ++ ) {
if ( params.springRotation[ i ] !== 0 ) {
constraint.enableSpring( i + 3, true );
constraint.setStiffness( i + 3, params.springRotation[ i ] );
}
}
/*
* Currently(10/31/2016) official ammo.js doesn't support
* btGeneric6DofSpringConstraint.setParam method.
* You need custom ammo.js (add the method into idl) if you wanna use.
* By setting this parameter, physics will be more like MMD's
*/
if ( constraint.setParam !== undefined ) {
for ( let i = 0; i < 6; i ++ ) {
constraint.setParam( 2, 0.475, i );
}
}
this.world.addConstraint( constraint, true );
this.constraint = constraint;
manager.freeTransform( form );
manager.freeTransform( formA );
manager.freeTransform( formB );
manager.freeTransform( formInverseA );
manager.freeTransform( formInverseB );
manager.freeTransform( formA2 );
manager.freeTransform( formB2 );
manager.freeVector3( lll );
manager.freeVector3( lul );
manager.freeVector3( all );
manager.freeVector3( aul );
}
} //
const _position = new THREE.Vector3();
const _quaternion = new THREE.Quaternion();
const _scale = new THREE.Vector3();
const _matrixWorldInv = new THREE.Matrix4();
class MMDPhysicsHelper extends THREE.Object3D {
/**
* Visualize Rigid bodies
*
* @param {THREE.SkinnedMesh} mesh
* @param {Physics} physics
*/
constructor( mesh, physics ) {
super();
this.root = mesh;
this.physics = physics;
this.matrix.copy( mesh.matrixWorld );
this.matrixAutoUpdate = false;
this.materials = [];
this.materials.push( new THREE.MeshBasicMaterial( {
color: new THREE.Color( 0xff8888 ),
wireframe: true,
depthTest: false,
depthWrite: false,
opacity: 0.25,
transparent: true
} ) );
this.materials.push( new THREE.MeshBasicMaterial( {
color: new THREE.Color( 0x88ff88 ),
wireframe: true,
depthTest: false,
depthWrite: false,
opacity: 0.25,
transparent: true
} ) );
this.materials.push( new THREE.MeshBasicMaterial( {
color: new THREE.Color( 0x8888ff ),
wireframe: true,
depthTest: false,
depthWrite: false,
opacity: 0.25,
transparent: true
} ) );
this._init();
}
/**
* Updates Rigid Bodies visualization.
*/
updateMatrixWorld( force ) {
var mesh = this.root;
if ( this.visible ) {
var bodies = this.physics.bodies;
_matrixWorldInv.copy( mesh.matrixWorld ).decompose( _position, _quaternion, _scale ).compose( _position, _quaternion, _scale.set( 1, 1, 1 ) ).invert();
for ( var i = 0, il = bodies.length; i < il; i ++ ) {
var body = bodies[ i ].body;
var child = this.children[ i ];
var tr = body.getCenterOfMassTransform();
var origin = tr.getOrigin();
var rotation = tr.getRotation();
child.position.set( origin.x(), origin.y(), origin.z() ).applyMatrix4( _matrixWorldInv );
child.quaternion.setFromRotationMatrix( _matrixWorldInv ).multiply( _quaternion.set( rotation.x(), rotation.y(), rotation.z(), rotation.w() ) );
}
}
this.matrix.copy( mesh.matrixWorld ).decompose( _position, _quaternion, _scale ).compose( _position, _quaternion, _scale.set( 1, 1, 1 ) );
super.updateMatrixWorld( force );
} // private method
_init() {
var bodies = this.physics.bodies;
function createGeometry( param ) {
switch ( param.shapeType ) {
case 0:
return new THREE.SphereGeometry( param.width, 16, 8 );
case 1:
return new THREE.BoxGeometry( param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8 );
case 2:
return new THREE.CapsuleGeometry( param.width, param.height, 8, 16 );
default:
return null;
}
}
for ( var i = 0, il = bodies.length; i < il; i ++ ) {
var param = bodies[ i ].params;
this.add( new THREE.Mesh( createGeometry( param ), this.materials[ param.type ] ) );
}
}
}
THREE.MMDPhysics = MMDPhysics;
} )();
