577 lines
19 KiB
TypeScript
577 lines
19 KiB
TypeScript
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import * as THREE from "three";
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import {OrbitControls} from "three/examples/jsm/controls/OrbitControls";
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import RAPIER from "@dimforge/rapier3d";
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const BOX_INSTANCE_INDEX = 0;
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const BALL_INSTANCE_INDEX = 1;
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const CYLINDER_INSTANCE_INDEX = 2;
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const CONE_INSTANCE_INDEX = 3;
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var dummy = new THREE.Object3D();
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var kk = 0;
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interface InstanceDesc {
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groupId: number;
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instanceId: number;
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elementId: number;
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highlighted: boolean;
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scale?: THREE.Vector3;
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}
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type RAPIER_API = typeof import("@dimforge/rapier3d");
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// NOTE: this is a very naive voxels -> mesh conversion. Proper
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// conversions should use something like greedy meshing instead.
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function genVoxelsGeometry(collider: RAPIER.Collider) {
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// Clear the cached shape so it gets recomputed from the source of truth,
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// and so we’ll be sure that the data contain grid coordinates even if the
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// voxels were initialized with floating points.
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collider.clearShapeCache();
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let shape = collider.shape as RAPIER.Voxels;
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let gridCoords = shape.data;
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let sz = shape.voxelSize;
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let vertices = [];
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let indices = [];
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let i: number;
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for (i = 0; i < gridCoords.length; i += 3) {
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let minx = gridCoords[i] * sz.x;
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let miny = gridCoords[i + 1] * sz.y;
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let minz = gridCoords[i + 2] * sz.z;
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let maxx = minx + sz.x;
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let maxy = miny + sz.y;
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let maxz = minz + sz.z;
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let k: number = vertices.length / 3;
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vertices.push(minx, miny, maxz);
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vertices.push(minx, miny, minz);
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vertices.push(maxx, miny, minz);
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vertices.push(maxx, miny, maxz);
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vertices.push(minx, maxy, maxz);
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vertices.push(minx, maxy, minz);
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vertices.push(maxx, maxy, minz);
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vertices.push(maxx, maxy, maxz);
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indices.push(k + 4, k + 5, k + 0);
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indices.push(k + 5, k + 1, k + 0);
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indices.push(k + 5, k + 6, k + 1);
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indices.push(k + 6, k + 2, k + 1);
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indices.push(k + 6, k + 7, k + 3);
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indices.push(k + 2, k + 6, k + 3);
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indices.push(k + 7, k + 4, k + 0);
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indices.push(k + 3, k + 7, k + 0);
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indices.push(k + 0, k + 1, k + 2);
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indices.push(k + 3, k + 0, k + 2);
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indices.push(k + 7, k + 6, k + 5);
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indices.push(k + 4, k + 7, k + 5);
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}
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return {
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vertices: new Float32Array(vertices),
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indices: new Uint32Array(indices),
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};
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}
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function genHeightfieldGeometry(collider: RAPIER.Collider) {
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let heights = collider.heightfieldHeights();
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let nrows = collider.heightfieldNRows();
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let ncols = collider.heightfieldNCols();
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let scale = collider.heightfieldScale();
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let vertices = [];
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let indices = [];
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let eltWX = 1.0 / nrows;
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let eltWY = 1.0 / ncols;
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let i: number;
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let j: number;
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for (j = 0; j <= ncols; ++j) {
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for (i = 0; i <= nrows; ++i) {
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let x = (j * eltWX - 0.5) * scale.x;
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let y = heights[j * (nrows + 1) + i] * scale.y;
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let z = (i * eltWY - 0.5) * scale.z;
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vertices.push(x, y, z);
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}
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}
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for (j = 0; j < ncols; ++j) {
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for (i = 0; i < nrows; ++i) {
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let i1 = (i + 0) * (ncols + 1) + (j + 0);
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let i2 = (i + 0) * (ncols + 1) + (j + 1);
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let i3 = (i + 1) * (ncols + 1) + (j + 0);
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let i4 = (i + 1) * (ncols + 1) + (j + 1);
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indices.push(i1, i3, i2);
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indices.push(i3, i4, i2);
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}
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}
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return {
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vertices: new Float32Array(vertices),
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indices: new Uint32Array(indices),
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};
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}
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export class Graphics {
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raycaster: THREE.Raycaster;
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highlightedCollider: null | number;
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coll2instance: Map<number, InstanceDesc>;
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coll2mesh: Map<number, THREE.Mesh>;
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rb2colls: Map<number, Array<RAPIER.Collider>>;
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colorIndex: number;
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colorPalette: Array<number>;
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scene: THREE.Scene;
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camera: THREE.PerspectiveCamera;
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renderer: THREE.WebGLRenderer;
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light: THREE.PointLight;
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lines: THREE.LineSegments;
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controls: OrbitControls;
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instanceGroups: Array<Array<THREE.InstancedMesh>>;
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constructor() {
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this.raycaster = new THREE.Raycaster();
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this.highlightedCollider = null;
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this.coll2instance = new Map();
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this.coll2mesh = new Map();
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this.rb2colls = new Map();
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this.colorIndex = 0;
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this.colorPalette = [0xf3d9b1, 0x98c1d9, 0x053c5e, 0x1f7a8c, 0xff0000];
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this.scene = new THREE.Scene();
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this.camera = new THREE.PerspectiveCamera(
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45,
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window.innerWidth / window.innerHeight,
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0.1,
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10000,
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);
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this.renderer = new THREE.WebGLRenderer({antialias: true});
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this.renderer.setSize(window.innerWidth, window.innerHeight);
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this.renderer.setClearColor(0x292929, 1);
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// High pixel Ratio make the rendering extremely slow, so we cap it.
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const pixelRatio = window.devicePixelRatio
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? Math.min(window.devicePixelRatio, 1.5)
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: 1;
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this.renderer.setPixelRatio(pixelRatio);
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document.body.appendChild(this.renderer.domElement);
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let ambientLight = new THREE.AmbientLight(0x606060);
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this.scene.add(ambientLight);
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this.light = new THREE.PointLight(0xffffff, 1, 1000);
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this.scene.add(this.light);
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// For the debug-renderer.
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{
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let material = new THREE.LineBasicMaterial({
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color: 0xffffff,
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vertexColors: true,
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});
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let geometry = new THREE.BufferGeometry();
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this.lines = new THREE.LineSegments(geometry, material);
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this.scene.add(this.lines);
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}
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let me = this;
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function onWindowResize() {
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if (!!me.camera) {
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me.camera.aspect = window.innerWidth / window.innerHeight;
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me.camera.updateProjectionMatrix();
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me.renderer.setSize(window.innerWidth, window.innerHeight);
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}
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}
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window.addEventListener("resize", onWindowResize, false);
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this.controls = new OrbitControls(
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this.camera,
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this.renderer.domElement,
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);
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this.controls.enableDamping = true;
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this.controls.dampingFactor = 0.2;
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this.controls.maxPolarAngle = Math.PI / 2;
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this.initInstances();
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}
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initInstances() {
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this.instanceGroups = [];
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this.instanceGroups.push(
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this.colorPalette.map((color) => {
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let box = new THREE.BoxGeometry(2.0, 2.0, 2.0);
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let mat = new THREE.MeshPhongMaterial({
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color: color,
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flatShading: true,
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});
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return new THREE.InstancedMesh(box, mat, 1000);
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}),
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);
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this.instanceGroups.push(
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this.colorPalette.map((color) => {
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let ball = new THREE.SphereGeometry(1.0);
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let mat = new THREE.MeshPhongMaterial({
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color: color,
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flatShading: true,
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});
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return new THREE.InstancedMesh(ball, mat, 1000);
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}),
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);
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this.instanceGroups.push(
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this.colorPalette.map((color) => {
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let cylinder = new THREE.CylinderGeometry(1.0, 1.0);
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let mat = new THREE.MeshPhongMaterial({
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color: color,
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flatShading: true,
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});
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return new THREE.InstancedMesh(cylinder, mat, 100);
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}),
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);
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this.instanceGroups.push(
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this.colorPalette.map((color) => {
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let cone = new THREE.ConeGeometry(1.0, 1.0);
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let mat = new THREE.MeshPhongMaterial({
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color: color,
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flatShading: true,
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});
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return new THREE.InstancedMesh(cone, mat, 100);
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}),
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);
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this.instanceGroups.forEach((groups) => {
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groups.forEach((instance) => {
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instance.userData.elementId2coll = new Map();
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instance.count = 0;
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instance.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
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this.scene.add(instance);
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});
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});
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}
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render(world: RAPIER.World, debugRender: boolean) {
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kk += 1;
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this.controls.update();
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// if (kk % 100 == 0) {
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// console.log(this.camera.position);
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// console.log(this.controls.target);
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// }
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this.light.position.set(
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this.camera.position.x,
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this.camera.position.y,
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this.camera.position.z,
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);
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if (debugRender) {
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let buffers = world.debugRender();
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this.lines.visible = true;
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this.lines.geometry.setAttribute(
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"position",
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new THREE.BufferAttribute(buffers.vertices, 3),
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);
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this.lines.geometry.setAttribute(
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"color",
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new THREE.BufferAttribute(buffers.colors, 4),
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);
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} else {
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this.lines.visible = false;
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}
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this.updatePositions(world);
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this.renderer.render(this.scene, this.camera);
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}
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rayAtMousePosition(pos: {x: number; y: number}) {
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this.raycaster.setFromCamera(pos, this.camera);
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return this.raycaster.ray;
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}
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lookAt(pos: {
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target: {x: number; y: number; z: number};
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eye: {x: number; y: number; z: number};
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}) {
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this.camera.position.set(pos.eye.x, pos.eye.y, pos.eye.z);
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this.controls.target.set(pos.target.x, pos.target.y, pos.target.z);
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this.controls.update();
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}
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highlightInstanceId() {
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return this.colorPalette.length - 1;
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}
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highlightCollider(handle: number) {
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if (handle == this.highlightedCollider)
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// Avoid flickering when moving the mouse on a single collider.
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return;
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if (this.highlightedCollider != null) {
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let desc = this.coll2instance.get(this.highlightedCollider);
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if (!!desc) {
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desc.highlighted = false;
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this.instanceGroups[desc.groupId][
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this.highlightInstanceId()
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].count = 0;
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}
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}
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if (handle != null) {
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let desc = this.coll2instance.get(handle);
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if (!!desc) {
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if (desc.instanceId != 0)
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// Don't highlight static/kinematic bodies.
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desc.highlighted = true;
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}
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}
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this.highlightedCollider = handle;
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}
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updatePositions(world: RAPIER.World) {
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world.forEachCollider((elt) => {
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let gfx = this.coll2instance.get(elt.handle);
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let translation = elt.translation();
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let rotation = elt.rotation();
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if (!!gfx) {
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let instance = this.instanceGroups[gfx.groupId][gfx.instanceId];
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dummy.scale.set(gfx.scale.x, gfx.scale.y, gfx.scale.z);
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dummy.position.set(translation.x, translation.y, translation.z);
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dummy.quaternion.set(
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rotation.x,
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rotation.y,
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rotation.z,
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rotation.w,
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);
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dummy.updateMatrix();
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instance.setMatrixAt(gfx.elementId, dummy.matrix);
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let highlightInstance =
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this.instanceGroups[gfx.groupId][
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this.highlightInstanceId()
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];
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if (gfx.highlighted) {
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highlightInstance.count = 1;
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highlightInstance.setMatrixAt(0, dummy.matrix);
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}
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instance.instanceMatrix.needsUpdate = true;
|
|||
|
|
highlightInstance.instanceMatrix.needsUpdate = true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
let mesh = this.coll2mesh.get(elt.handle);
|
|||
|
|
|
|||
|
|
if (!!mesh) {
|
|||
|
|
mesh.position.set(translation.x, translation.y, translation.z);
|
|||
|
|
mesh.quaternion.set(
|
|||
|
|
rotation.x,
|
|||
|
|
rotation.y,
|
|||
|
|
rotation.z,
|
|||
|
|
rotation.w,
|
|||
|
|
);
|
|||
|
|
mesh.updateMatrix();
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
reset() {
|
|||
|
|
this.instanceGroups.forEach((groups) => {
|
|||
|
|
groups.forEach((instance) => {
|
|||
|
|
instance.userData.elementId2coll = new Map();
|
|||
|
|
instance.count = 0;
|
|||
|
|
});
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
this.coll2mesh.forEach((mesh) => {
|
|||
|
|
this.scene.remove(mesh);
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
this.coll2instance = new Map();
|
|||
|
|
this.rb2colls = new Map();
|
|||
|
|
this.colorIndex = 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// applyModifications(RAPIER: RAPIER_API, world: RAPIER.World, modifications) {
|
|||
|
|
// if (!!modifications) {
|
|||
|
|
// modifications.addCollider.forEach(coll => {
|
|||
|
|
// let collider = world.getCollider(coll.handle);
|
|||
|
|
// this.addCollider(RAPIER, world, collider);
|
|||
|
|
// });
|
|||
|
|
// modifications.removeRigidBody.forEach(body => {
|
|||
|
|
// if (!!this.rb2colls.get(body.handle)) {
|
|||
|
|
// this.rb2colls.get(body.handle).forEach(coll => this.removeCollider(coll));
|
|||
|
|
// this.rb2colls.delete(body.handle);
|
|||
|
|
// }
|
|||
|
|
// });
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
|
|||
|
|
removeRigidBody(body: RAPIER.RigidBody) {
|
|||
|
|
if (!!this.rb2colls.get(body.handle)) {
|
|||
|
|
this.rb2colls
|
|||
|
|
.get(body.handle)
|
|||
|
|
.forEach((coll) => this.removeCollider(coll));
|
|||
|
|
this.rb2colls.delete(body.handle);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
removeCollider(collider: RAPIER.Collider) {
|
|||
|
|
let gfx = this.coll2instance.get(collider.handle);
|
|||
|
|
let instance = this.instanceGroups[gfx.groupId][gfx.instanceId];
|
|||
|
|
|
|||
|
|
if (instance.count > 1) {
|
|||
|
|
let coll2 = instance.userData.elementId2coll.get(
|
|||
|
|
instance.count - 1,
|
|||
|
|
);
|
|||
|
|
instance.userData.elementId2coll.delete(instance.count - 1);
|
|||
|
|
instance.userData.elementId2coll.set(gfx.elementId, coll2);
|
|||
|
|
|
|||
|
|
let gfx2 = this.coll2instance.get(coll2.handle);
|
|||
|
|
gfx2.elementId = gfx.elementId;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
instance.count -= 1;
|
|||
|
|
this.coll2instance.delete(collider.handle);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
addCollider(
|
|||
|
|
RAPIER: RAPIER_API,
|
|||
|
|
world: RAPIER.World,
|
|||
|
|
collider: RAPIER.Collider,
|
|||
|
|
) {
|
|||
|
|
this.colorIndex =
|
|||
|
|
(this.colorIndex + 1) % (this.colorPalette.length - 2);
|
|||
|
|
let parent = collider.parent();
|
|||
|
|
if (!this.rb2colls.get(parent.handle)) {
|
|||
|
|
this.rb2colls.set(parent.handle, [collider]);
|
|||
|
|
} else {
|
|||
|
|
this.rb2colls.get(parent.handle).push(collider);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
let instance;
|
|||
|
|
let instanceDesc: InstanceDesc = {
|
|||
|
|
groupId: 0,
|
|||
|
|
instanceId: parent.isFixed() ? 0 : this.colorIndex + 1,
|
|||
|
|
elementId: 0,
|
|||
|
|
highlighted: false,
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
switch (collider.shapeType()) {
|
|||
|
|
case RAPIER.ShapeType.Cuboid:
|
|||
|
|
let hext = collider.halfExtents();
|
|||
|
|
instance =
|
|||
|
|
this.instanceGroups[BOX_INSTANCE_INDEX][
|
|||
|
|
instanceDesc.instanceId
|
|||
|
|
];
|
|||
|
|
instanceDesc.groupId = BOX_INSTANCE_INDEX;
|
|||
|
|
instanceDesc.scale = new THREE.Vector3(hext.x, hext.y, hext.z);
|
|||
|
|
break;
|
|||
|
|
case RAPIER.ShapeType.Ball:
|
|||
|
|
let rad = collider.radius();
|
|||
|
|
instance =
|
|||
|
|
this.instanceGroups[BALL_INSTANCE_INDEX][
|
|||
|
|
instanceDesc.instanceId
|
|||
|
|
];
|
|||
|
|
instanceDesc.groupId = BALL_INSTANCE_INDEX;
|
|||
|
|
instanceDesc.scale = new THREE.Vector3(rad, rad, rad);
|
|||
|
|
break;
|
|||
|
|
case RAPIER.ShapeType.Cylinder:
|
|||
|
|
case RAPIER.ShapeType.RoundCylinder:
|
|||
|
|
let cyl_rad = collider.radius();
|
|||
|
|
let cyl_height = collider.halfHeight() * 2.0;
|
|||
|
|
instance =
|
|||
|
|
this.instanceGroups[CYLINDER_INSTANCE_INDEX][
|
|||
|
|
instanceDesc.instanceId
|
|||
|
|
];
|
|||
|
|
instanceDesc.groupId = CYLINDER_INSTANCE_INDEX;
|
|||
|
|
instanceDesc.scale = new THREE.Vector3(
|
|||
|
|
cyl_rad,
|
|||
|
|
cyl_height,
|
|||
|
|
cyl_rad,
|
|||
|
|
);
|
|||
|
|
break;
|
|||
|
|
case RAPIER.ShapeType.Cone:
|
|||
|
|
let cone_rad = collider.radius();
|
|||
|
|
let cone_height = collider.halfHeight() * 2.0;
|
|||
|
|
instance =
|
|||
|
|
this.instanceGroups[CONE_INSTANCE_INDEX][
|
|||
|
|
instanceDesc.instanceId
|
|||
|
|
];
|
|||
|
|
instanceDesc.groupId = CONE_INSTANCE_INDEX;
|
|||
|
|
instanceDesc.scale = new THREE.Vector3(
|
|||
|
|
cone_rad,
|
|||
|
|
cone_height,
|
|||
|
|
cone_rad,
|
|||
|
|
);
|
|||
|
|
break;
|
|||
|
|
case RAPIER.ShapeType.TriMesh:
|
|||
|
|
case RAPIER.ShapeType.HeightField:
|
|||
|
|
case RAPIER.ShapeType.ConvexPolyhedron:
|
|||
|
|
case RAPIER.ShapeType.RoundConvexPolyhedron:
|
|||
|
|
case RAPIER.ShapeType.Voxels:
|
|||
|
|
let geometry = new THREE.BufferGeometry();
|
|||
|
|
let vertices;
|
|||
|
|
let indices;
|
|||
|
|
|
|||
|
|
if (collider.shapeType() == RAPIER.ShapeType.HeightField) {
|
|||
|
|
let g = genHeightfieldGeometry(collider);
|
|||
|
|
vertices = g.vertices;
|
|||
|
|
indices = g.indices;
|
|||
|
|
} else if (collider.shapeType() == RAPIER.ShapeType.Voxels) {
|
|||
|
|
let g = genVoxelsGeometry(collider);
|
|||
|
|
vertices = g.vertices;
|
|||
|
|
indices = g.indices;
|
|||
|
|
} else {
|
|||
|
|
vertices = collider.vertices();
|
|||
|
|
indices = collider.indices();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
geometry.setIndex(Array.from(indices));
|
|||
|
|
geometry.setAttribute(
|
|||
|
|
"position",
|
|||
|
|
new THREE.BufferAttribute(vertices, 3),
|
|||
|
|
);
|
|||
|
|
let color = parent.isFixed() ? 0 : this.colorIndex + 1;
|
|||
|
|
|
|||
|
|
let material = new THREE.MeshPhongMaterial({
|
|||
|
|
color: this.colorPalette[color],
|
|||
|
|
side: THREE.DoubleSide,
|
|||
|
|
flatShading: true,
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
let mesh = new THREE.Mesh(geometry, material);
|
|||
|
|
this.scene.add(mesh);
|
|||
|
|
this.coll2mesh.set(collider.handle, mesh);
|
|||
|
|
return;
|
|||
|
|
default:
|
|||
|
|
console.log("Unknown shape to render.");
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (!!instance) {
|
|||
|
|
instanceDesc.elementId = instance.count;
|
|||
|
|
instance.userData.elementId2coll.set(instance.count, collider);
|
|||
|
|
instance.count += 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
let highlightInstance =
|
|||
|
|
this.instanceGroups[instanceDesc.groupId][
|
|||
|
|
this.highlightInstanceId()
|
|||
|
|
];
|
|||
|
|
highlightInstance.count = 0;
|
|||
|
|
|
|||
|
|
let t = collider.translation();
|
|||
|
|
let r = collider.rotation();
|
|||
|
|
dummy.position.set(t.x, t.y, t.z);
|
|||
|
|
dummy.quaternion.set(r.x, r.y, r.z, r.w);
|
|||
|
|
dummy.scale.set(
|
|||
|
|
instanceDesc.scale.x,
|
|||
|
|
instanceDesc.scale.y,
|
|||
|
|
instanceDesc.scale.z,
|
|||
|
|
);
|
|||
|
|
dummy.updateMatrix();
|
|||
|
|
instance.setMatrixAt(instanceDesc.elementId, dummy.matrix);
|
|||
|
|
instance.instanceMatrix.needsUpdate = true;
|
|||
|
|
|
|||
|
|
this.coll2instance.set(collider.handle, instanceDesc);
|
|||
|
|
}
|
|||
|
|
}
|