chore: 添加第三方依赖库
This commit is contained in:
yhh
3
thirdparty/rapier.js/testbed3d/.npmignore
vendored
Normal file
3
thirdparty/rapier.js/testbed3d/.npmignore
vendored
Normal file
@@ -0,0 +1,3 @@
|
||||
webpack.config2d.js
|
||||
src
|
||||
*.tgz
|
||||
32
thirdparty/rapier.js/testbed3d/package.json
vendored
Normal file
32
thirdparty/rapier.js/testbed3d/package.json
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
{
|
||||
"author": "sebcrozet <developer@crozet.re>",
|
||||
"name": "rapier-testbed3d",
|
||||
"version": "0.1.0",
|
||||
"description": "JavaScript testbed for rapier.",
|
||||
"license": "Apache-2.0",
|
||||
"main": "dist/rapier-testbed3d.js",
|
||||
"scripts": {
|
||||
"build": "rimraf dist pkg && webpack",
|
||||
"start": "rimraf dist pkg && webpack serve --open --node-env development"
|
||||
},
|
||||
"dependencies": {
|
||||
"@dimforge/rapier3d": "file:../builds/rapier3d",
|
||||
"hash-wasm": "^4.12.0",
|
||||
"lil-gui": "^0.17.0",
|
||||
"seedrandom": "^3.0.5",
|
||||
"stats.js": "^0.17.0",
|
||||
"three": "^0.146.0"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/seedrandom": "^3.0.2",
|
||||
"@types/stats.js": "^0.17.0",
|
||||
"@types/three": "^0.144.0",
|
||||
"copy-webpack-plugin": "^11.0.0",
|
||||
"rimraf": "^3.0.2",
|
||||
"ts-loader": "^9.4.1",
|
||||
"typescript": "^4.8.4",
|
||||
"webpack": "^5.74.0",
|
||||
"webpack-cli": "^4.10.0",
|
||||
"webpack-dev-server": "^4.11.1"
|
||||
}
|
||||
}
|
||||
6
thirdparty/rapier.js/testbed3d/publish.sh
vendored
Normal file
6
thirdparty/rapier.js/testbed3d/publish.sh
vendored
Normal file
@@ -0,0 +1,6 @@
|
||||
#!/bin/bash
|
||||
|
||||
npm run build
|
||||
rsync -av --delete-after dist/ crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/demos3d
|
||||
# rsync -av dist/ammo.wasm.wasm crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/ammo.wasm.wasm
|
||||
# rsync -av dist/physx.release.wasm crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/physx.release.wasm
|
||||
576
thirdparty/rapier.js/testbed3d/src/Graphics.ts
vendored
Normal file
576
thirdparty/rapier.js/testbed3d/src/Graphics.ts
vendored
Normal file
@@ -0,0 +1,576 @@
|
||||
import * as THREE from "three";
|
||||
import {OrbitControls} from "three/examples/jsm/controls/OrbitControls";
|
||||
import RAPIER from "@dimforge/rapier3d";
|
||||
|
||||
const BOX_INSTANCE_INDEX = 0;
|
||||
const BALL_INSTANCE_INDEX = 1;
|
||||
const CYLINDER_INSTANCE_INDEX = 2;
|
||||
const CONE_INSTANCE_INDEX = 3;
|
||||
|
||||
var dummy = new THREE.Object3D();
|
||||
var kk = 0;
|
||||
|
||||
interface InstanceDesc {
|
||||
groupId: number;
|
||||
instanceId: number;
|
||||
elementId: number;
|
||||
highlighted: boolean;
|
||||
scale?: THREE.Vector3;
|
||||
}
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
// NOTE: this is a very naive voxels -> mesh conversion. Proper
|
||||
// conversions should use something like greedy meshing instead.
|
||||
function genVoxelsGeometry(collider: RAPIER.Collider) {
|
||||
// Clear the cached shape so it gets recomputed from the source of truth,
|
||||
// and so we’ll be sure that the data contain grid coordinates even if the
|
||||
// voxels were initialized with floating points.
|
||||
collider.clearShapeCache();
|
||||
let shape = collider.shape as RAPIER.Voxels;
|
||||
let gridCoords = shape.data;
|
||||
let sz = shape.voxelSize;
|
||||
let vertices = [];
|
||||
let indices = [];
|
||||
|
||||
let i: number;
|
||||
for (i = 0; i < gridCoords.length; i += 3) {
|
||||
let minx = gridCoords[i] * sz.x;
|
||||
let miny = gridCoords[i + 1] * sz.y;
|
||||
let minz = gridCoords[i + 2] * sz.z;
|
||||
let maxx = minx + sz.x;
|
||||
let maxy = miny + sz.y;
|
||||
let maxz = minz + sz.z;
|
||||
|
||||
let k: number = vertices.length / 3;
|
||||
vertices.push(minx, miny, maxz);
|
||||
vertices.push(minx, miny, minz);
|
||||
vertices.push(maxx, miny, minz);
|
||||
vertices.push(maxx, miny, maxz);
|
||||
vertices.push(minx, maxy, maxz);
|
||||
vertices.push(minx, maxy, minz);
|
||||
vertices.push(maxx, maxy, minz);
|
||||
vertices.push(maxx, maxy, maxz);
|
||||
|
||||
indices.push(k + 4, k + 5, k + 0);
|
||||
indices.push(k + 5, k + 1, k + 0);
|
||||
indices.push(k + 5, k + 6, k + 1);
|
||||
indices.push(k + 6, k + 2, k + 1);
|
||||
indices.push(k + 6, k + 7, k + 3);
|
||||
indices.push(k + 2, k + 6, k + 3);
|
||||
indices.push(k + 7, k + 4, k + 0);
|
||||
indices.push(k + 3, k + 7, k + 0);
|
||||
indices.push(k + 0, k + 1, k + 2);
|
||||
indices.push(k + 3, k + 0, k + 2);
|
||||
indices.push(k + 7, k + 6, k + 5);
|
||||
indices.push(k + 4, k + 7, k + 5);
|
||||
}
|
||||
|
||||
return {
|
||||
vertices: new Float32Array(vertices),
|
||||
indices: new Uint32Array(indices),
|
||||
};
|
||||
}
|
||||
|
||||
function genHeightfieldGeometry(collider: RAPIER.Collider) {
|
||||
let heights = collider.heightfieldHeights();
|
||||
let nrows = collider.heightfieldNRows();
|
||||
let ncols = collider.heightfieldNCols();
|
||||
let scale = collider.heightfieldScale();
|
||||
|
||||
let vertices = [];
|
||||
let indices = [];
|
||||
let eltWX = 1.0 / nrows;
|
||||
let eltWY = 1.0 / ncols;
|
||||
|
||||
let i: number;
|
||||
let j: number;
|
||||
for (j = 0; j <= ncols; ++j) {
|
||||
for (i = 0; i <= nrows; ++i) {
|
||||
let x = (j * eltWX - 0.5) * scale.x;
|
||||
let y = heights[j * (nrows + 1) + i] * scale.y;
|
||||
let z = (i * eltWY - 0.5) * scale.z;
|
||||
|
||||
vertices.push(x, y, z);
|
||||
}
|
||||
}
|
||||
|
||||
for (j = 0; j < ncols; ++j) {
|
||||
for (i = 0; i < nrows; ++i) {
|
||||
let i1 = (i + 0) * (ncols + 1) + (j + 0);
|
||||
let i2 = (i + 0) * (ncols + 1) + (j + 1);
|
||||
let i3 = (i + 1) * (ncols + 1) + (j + 0);
|
||||
let i4 = (i + 1) * (ncols + 1) + (j + 1);
|
||||
|
||||
indices.push(i1, i3, i2);
|
||||
indices.push(i3, i4, i2);
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
vertices: new Float32Array(vertices),
|
||||
indices: new Uint32Array(indices),
|
||||
};
|
||||
}
|
||||
|
||||
export class Graphics {
|
||||
raycaster: THREE.Raycaster;
|
||||
highlightedCollider: null | number;
|
||||
coll2instance: Map<number, InstanceDesc>;
|
||||
coll2mesh: Map<number, THREE.Mesh>;
|
||||
rb2colls: Map<number, Array<RAPIER.Collider>>;
|
||||
colorIndex: number;
|
||||
colorPalette: Array<number>;
|
||||
scene: THREE.Scene;
|
||||
camera: THREE.PerspectiveCamera;
|
||||
renderer: THREE.WebGLRenderer;
|
||||
light: THREE.PointLight;
|
||||
lines: THREE.LineSegments;
|
||||
controls: OrbitControls;
|
||||
instanceGroups: Array<Array<THREE.InstancedMesh>>;
|
||||
|
||||
constructor() {
|
||||
this.raycaster = new THREE.Raycaster();
|
||||
this.highlightedCollider = null;
|
||||
this.coll2instance = new Map();
|
||||
this.coll2mesh = new Map();
|
||||
this.rb2colls = new Map();
|
||||
this.colorIndex = 0;
|
||||
this.colorPalette = [0xf3d9b1, 0x98c1d9, 0x053c5e, 0x1f7a8c, 0xff0000];
|
||||
this.scene = new THREE.Scene();
|
||||
this.camera = new THREE.PerspectiveCamera(
|
||||
45,
|
||||
window.innerWidth / window.innerHeight,
|
||||
0.1,
|
||||
10000,
|
||||
);
|
||||
this.renderer = new THREE.WebGLRenderer({antialias: true});
|
||||
this.renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
this.renderer.setClearColor(0x292929, 1);
|
||||
// High pixel Ratio make the rendering extremely slow, so we cap it.
|
||||
const pixelRatio = window.devicePixelRatio
|
||||
? Math.min(window.devicePixelRatio, 1.5)
|
||||
: 1;
|
||||
this.renderer.setPixelRatio(pixelRatio);
|
||||
document.body.appendChild(this.renderer.domElement);
|
||||
|
||||
let ambientLight = new THREE.AmbientLight(0x606060);
|
||||
this.scene.add(ambientLight);
|
||||
this.light = new THREE.PointLight(0xffffff, 1, 1000);
|
||||
this.scene.add(this.light);
|
||||
|
||||
// For the debug-renderer.
|
||||
{
|
||||
let material = new THREE.LineBasicMaterial({
|
||||
color: 0xffffff,
|
||||
vertexColors: true,
|
||||
});
|
||||
let geometry = new THREE.BufferGeometry();
|
||||
this.lines = new THREE.LineSegments(geometry, material);
|
||||
this.scene.add(this.lines);
|
||||
}
|
||||
let me = this;
|
||||
|
||||
function onWindowResize() {
|
||||
if (!!me.camera) {
|
||||
me.camera.aspect = window.innerWidth / window.innerHeight;
|
||||
me.camera.updateProjectionMatrix();
|
||||
me.renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
}
|
||||
}
|
||||
|
||||
window.addEventListener("resize", onWindowResize, false);
|
||||
|
||||
this.controls = new OrbitControls(
|
||||
this.camera,
|
||||
this.renderer.domElement,
|
||||
);
|
||||
this.controls.enableDamping = true;
|
||||
this.controls.dampingFactor = 0.2;
|
||||
this.controls.maxPolarAngle = Math.PI / 2;
|
||||
this.initInstances();
|
||||
}
|
||||
|
||||
initInstances() {
|
||||
this.instanceGroups = [];
|
||||
this.instanceGroups.push(
|
||||
this.colorPalette.map((color) => {
|
||||
let box = new THREE.BoxGeometry(2.0, 2.0, 2.0);
|
||||
let mat = new THREE.MeshPhongMaterial({
|
||||
color: color,
|
||||
flatShading: true,
|
||||
});
|
||||
return new THREE.InstancedMesh(box, mat, 1000);
|
||||
}),
|
||||
);
|
||||
|
||||
this.instanceGroups.push(
|
||||
this.colorPalette.map((color) => {
|
||||
let ball = new THREE.SphereGeometry(1.0);
|
||||
let mat = new THREE.MeshPhongMaterial({
|
||||
color: color,
|
||||
flatShading: true,
|
||||
});
|
||||
return new THREE.InstancedMesh(ball, mat, 1000);
|
||||
}),
|
||||
);
|
||||
|
||||
this.instanceGroups.push(
|
||||
this.colorPalette.map((color) => {
|
||||
let cylinder = new THREE.CylinderGeometry(1.0, 1.0);
|
||||
let mat = new THREE.MeshPhongMaterial({
|
||||
color: color,
|
||||
flatShading: true,
|
||||
});
|
||||
return new THREE.InstancedMesh(cylinder, mat, 100);
|
||||
}),
|
||||
);
|
||||
|
||||
this.instanceGroups.push(
|
||||
this.colorPalette.map((color) => {
|
||||
let cone = new THREE.ConeGeometry(1.0, 1.0);
|
||||
let mat = new THREE.MeshPhongMaterial({
|
||||
color: color,
|
||||
flatShading: true,
|
||||
});
|
||||
return new THREE.InstancedMesh(cone, mat, 100);
|
||||
}),
|
||||
);
|
||||
|
||||
this.instanceGroups.forEach((groups) => {
|
||||
groups.forEach((instance) => {
|
||||
instance.userData.elementId2coll = new Map();
|
||||
instance.count = 0;
|
||||
instance.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
|
||||
this.scene.add(instance);
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
render(world: RAPIER.World, debugRender: boolean) {
|
||||
kk += 1;
|
||||
this.controls.update();
|
||||
// if (kk % 100 == 0) {
|
||||
// console.log(this.camera.position);
|
||||
// console.log(this.controls.target);
|
||||
// }
|
||||
|
||||
this.light.position.set(
|
||||
this.camera.position.x,
|
||||
this.camera.position.y,
|
||||
this.camera.position.z,
|
||||
);
|
||||
|
||||
if (debugRender) {
|
||||
let buffers = world.debugRender();
|
||||
this.lines.visible = true;
|
||||
this.lines.geometry.setAttribute(
|
||||
"position",
|
||||
new THREE.BufferAttribute(buffers.vertices, 3),
|
||||
);
|
||||
this.lines.geometry.setAttribute(
|
||||
"color",
|
||||
new THREE.BufferAttribute(buffers.colors, 4),
|
||||
);
|
||||
} else {
|
||||
this.lines.visible = false;
|
||||
}
|
||||
|
||||
this.updatePositions(world);
|
||||
this.renderer.render(this.scene, this.camera);
|
||||
}
|
||||
|
||||
rayAtMousePosition(pos: {x: number; y: number}) {
|
||||
this.raycaster.setFromCamera(pos, this.camera);
|
||||
return this.raycaster.ray;
|
||||
}
|
||||
|
||||
lookAt(pos: {
|
||||
target: {x: number; y: number; z: number};
|
||||
eye: {x: number; y: number; z: number};
|
||||
}) {
|
||||
this.camera.position.set(pos.eye.x, pos.eye.y, pos.eye.z);
|
||||
this.controls.target.set(pos.target.x, pos.target.y, pos.target.z);
|
||||
this.controls.update();
|
||||
}
|
||||
|
||||
highlightInstanceId() {
|
||||
return this.colorPalette.length - 1;
|
||||
}
|
||||
|
||||
highlightCollider(handle: number) {
|
||||
if (handle == this.highlightedCollider)
|
||||
// Avoid flickering when moving the mouse on a single collider.
|
||||
return;
|
||||
|
||||
if (this.highlightedCollider != null) {
|
||||
let desc = this.coll2instance.get(this.highlightedCollider);
|
||||
|
||||
if (!!desc) {
|
||||
desc.highlighted = false;
|
||||
this.instanceGroups[desc.groupId][
|
||||
this.highlightInstanceId()
|
||||
].count = 0;
|
||||
}
|
||||
}
|
||||
if (handle != null) {
|
||||
let desc = this.coll2instance.get(handle);
|
||||
|
||||
if (!!desc) {
|
||||
if (desc.instanceId != 0)
|
||||
// Don't highlight static/kinematic bodies.
|
||||
desc.highlighted = true;
|
||||
}
|
||||
}
|
||||
this.highlightedCollider = handle;
|
||||
}
|
||||
|
||||
updatePositions(world: RAPIER.World) {
|
||||
world.forEachCollider((elt) => {
|
||||
let gfx = this.coll2instance.get(elt.handle);
|
||||
let translation = elt.translation();
|
||||
let rotation = elt.rotation();
|
||||
|
||||
if (!!gfx) {
|
||||
let instance = this.instanceGroups[gfx.groupId][gfx.instanceId];
|
||||
dummy.scale.set(gfx.scale.x, gfx.scale.y, gfx.scale.z);
|
||||
dummy.position.set(translation.x, translation.y, translation.z);
|
||||
dummy.quaternion.set(
|
||||
rotation.x,
|
||||
rotation.y,
|
||||
rotation.z,
|
||||
rotation.w,
|
||||
);
|
||||
dummy.updateMatrix();
|
||||
instance.setMatrixAt(gfx.elementId, dummy.matrix);
|
||||
|
||||
let highlightInstance =
|
||||
this.instanceGroups[gfx.groupId][
|
||||
this.highlightInstanceId()
|
||||
];
|
||||
if (gfx.highlighted) {
|
||||
highlightInstance.count = 1;
|
||||
highlightInstance.setMatrixAt(0, dummy.matrix);
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
167
thirdparty/rapier.js/testbed3d/src/Gui.ts
vendored
Normal file
167
thirdparty/rapier.js/testbed3d/src/Gui.ts
vendored
Normal file
@@ -0,0 +1,167 @@
|
||||
import GUI from "lil-gui";
|
||||
import * as Stats from "stats.js";
|
||||
import type {Testbed} from "./Testbed";
|
||||
|
||||
export interface DebugInfos {
|
||||
token: number;
|
||||
stepId: number;
|
||||
worldHash: string;
|
||||
worldHashTime: number;
|
||||
snapshotTime: number;
|
||||
|
||||
timingStep: number;
|
||||
timingCollisionDetection: number;
|
||||
timingBroadPhase: number;
|
||||
timingNarrowPhase: number;
|
||||
timingSolver: number;
|
||||
timingVelocityAssembly: number;
|
||||
timingVelocityResolution: number;
|
||||
timingVelocityUpdate: number;
|
||||
timingVelocityWriteback: number;
|
||||
timingCcd: number;
|
||||
timingCcdToiComputation: number;
|
||||
timingCcdBroadPhase: number;
|
||||
timingCcdNarrowPhase: number;
|
||||
timingCcdSolver: number;
|
||||
timingIslandConstruction: number;
|
||||
timingUserChanges: number;
|
||||
}
|
||||
|
||||
export class Gui {
|
||||
stats: Stats;
|
||||
rapierVersion: string;
|
||||
maxTimePanelValue: number;
|
||||
stepTimePanel: Stats.Panel;
|
||||
gui: GUI;
|
||||
debugText: HTMLDivElement;
|
||||
|
||||
constructor(testbed: Testbed, simulationParameters: Testbed["parameters"]) {
|
||||
// Timings
|
||||
this.stats = new Stats();
|
||||
this.rapierVersion = testbed.RAPIER.version();
|
||||
this.maxTimePanelValue = 16.0;
|
||||
this.stepTimePanel = this.stats.addPanel(
|
||||
new Stats.Panel("ms (step)", "#ff8", "#221"),
|
||||
);
|
||||
this.stats.showPanel(this.stats.dom.children.length - 1);
|
||||
document.body.appendChild(this.stats.dom);
|
||||
|
||||
var backends = simulationParameters.backends;
|
||||
var demos = Array.from(simulationParameters.builders.keys());
|
||||
var me = this;
|
||||
|
||||
// For configuring simulation parameters.
|
||||
this.gui = new GUI({
|
||||
title: "Rapier JS demos",
|
||||
});
|
||||
var currDemo = this.gui
|
||||
.add(simulationParameters, "demo", demos)
|
||||
.onChange((demo: string) => {
|
||||
testbed.switchToDemo(demo);
|
||||
});
|
||||
this.gui
|
||||
.add(simulationParameters, "numSolverIters", 0, 20)
|
||||
.step(1)
|
||||
.listen();
|
||||
this.gui
|
||||
.add(simulationParameters, "debugInfos")
|
||||
.listen()
|
||||
.onChange((value: boolean) => {
|
||||
me.debugText.style.visibility = value ? "visible" : "hidden";
|
||||
});
|
||||
this.gui.add(simulationParameters, "debugRender").listen();
|
||||
this.gui.add(simulationParameters, "running").listen();
|
||||
this.gui.add(simulationParameters, "step");
|
||||
simulationParameters.step = () => {
|
||||
simulationParameters.stepping = true;
|
||||
};
|
||||
this.gui.add(simulationParameters, "takeSnapshot");
|
||||
simulationParameters.takeSnapshot = () => {
|
||||
testbed.takeSnapshot();
|
||||
};
|
||||
this.gui.add(simulationParameters, "restoreSnapshot");
|
||||
simulationParameters.restoreSnapshot = () => {
|
||||
testbed.restoreSnapshot();
|
||||
};
|
||||
this.gui.add(simulationParameters, "restart");
|
||||
simulationParameters.restart = () => {
|
||||
testbed.switchToDemo(currDemo.getValue());
|
||||
};
|
||||
|
||||
/*
|
||||
* Block of text for debug infos.
|
||||
*/
|
||||
this.debugText = document.createElement("div");
|
||||
this.debugText.style.position = "absolute";
|
||||
this.debugText.innerHTML = "";
|
||||
this.debugText.style.top = 50 + "px";
|
||||
this.debugText.style.visibility = "visible";
|
||||
this.debugText.style.color = "#fff";
|
||||
document.body.appendChild(this.debugText);
|
||||
}
|
||||
|
||||
setDebugInfos(infos: DebugInfos) {
|
||||
let text = "Version " + this.rapierVersion;
|
||||
text += "<br/>[Step " + infos.stepId + "]";
|
||||
|
||||
if (infos.worldHash) {
|
||||
text +=
|
||||
"<br/>World hash (xxHash128): " + infos.worldHash.toString();
|
||||
text +=
|
||||
"<br/>World hash time (xxHash128): " +
|
||||
infos.worldHashTime +
|
||||
"ms";
|
||||
text += "<br/>Snapshot time: " + infos.snapshotTime + "ms";
|
||||
}
|
||||
|
||||
text += "<br/>timingStep: " + infos.timingStep + "ms";
|
||||
text +=
|
||||
"<br/>timingCollisionDetection: " +
|
||||
infos.timingCollisionDetection +
|
||||
"ms";
|
||||
text += "<br/>timingBroadPhase: " + infos.timingBroadPhase + "ms";
|
||||
text += "<br/>timingNarrowPhase: " + infos.timingNarrowPhase + "ms";
|
||||
text += "<br/>timingSolver: " + infos.timingSolver + "ms";
|
||||
text +=
|
||||
"<br/>timingVelocityAssembly: " +
|
||||
infos.timingVelocityAssembly +
|
||||
"ms";
|
||||
text +=
|
||||
"<br/>timingVelocityResolution: " +
|
||||
infos.timingVelocityResolution +
|
||||
"ms";
|
||||
text +=
|
||||
"<br/>timingVelocityUpdate: " + infos.timingVelocityUpdate + "ms";
|
||||
text +=
|
||||
"<br/>timingVelocityWriteback: " +
|
||||
infos.timingVelocityWriteback +
|
||||
"ms";
|
||||
text += "<br/>timingCcd: " + infos.timingCcd + "ms";
|
||||
text +=
|
||||
"<br/>timingCcdToiComputation: " +
|
||||
infos.timingCcdToiComputation +
|
||||
"ms";
|
||||
text += "<br/>timingCcdBroadPhase: " + infos.timingCcdBroadPhase + "ms";
|
||||
text +=
|
||||
"<br/>timingCcdNarrowPhase: " + infos.timingCcdNarrowPhase + "ms";
|
||||
text += "<br/>timingCcdSolver: " + infos.timingCcdSolver + "ms";
|
||||
text +=
|
||||
"<br/>timingIslandConstruction: " +
|
||||
infos.timingIslandConstruction +
|
||||
"ms";
|
||||
text += "<br/>timingUserChanges: " + infos.timingUserChanges + "ms";
|
||||
this.debugText.innerHTML = text;
|
||||
}
|
||||
|
||||
setTiming(timing: number) {
|
||||
if (!!timing) {
|
||||
this.maxTimePanelValue = Math.max(this.maxTimePanelValue, timing);
|
||||
this.stepTimePanel.update(timing, this.maxTimePanelValue);
|
||||
}
|
||||
}
|
||||
|
||||
resetTiming() {
|
||||
this.maxTimePanelValue = 1.0;
|
||||
this.stepTimePanel.update(0.0, 16.0);
|
||||
}
|
||||
}
|
||||
211
thirdparty/rapier.js/testbed3d/src/Testbed.ts
vendored
Normal file
211
thirdparty/rapier.js/testbed3d/src/Testbed.ts
vendored
Normal file
@@ -0,0 +1,211 @@
|
||||
import {Graphics} from "./Graphics";
|
||||
import {Gui} from "./Gui";
|
||||
import type {DebugInfos} from "./Gui";
|
||||
import {xxhash128} from "hash-wasm";
|
||||
import type * as RAPIER from "@dimforge/rapier3d";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
type Builders = Map<string, (RAPIER: RAPIER_API, testbed: Testbed) => void>;
|
||||
|
||||
class SimulationParameters {
|
||||
backend: string;
|
||||
prevBackend: string;
|
||||
demo: string;
|
||||
numSolverIters: number;
|
||||
running: boolean;
|
||||
stepping: boolean;
|
||||
debugInfos: boolean;
|
||||
debugRender: boolean;
|
||||
step: () => void;
|
||||
restart: () => void;
|
||||
takeSnapshot: () => void;
|
||||
restoreSnapshot: () => void;
|
||||
backends: Array<string>;
|
||||
builders: Builders;
|
||||
|
||||
constructor(backends: Array<string>, builders: Builders) {
|
||||
this.backend = "rapier";
|
||||
this.prevBackend = "rapier";
|
||||
this.demo = "collision groups";
|
||||
this.numSolverIters = 4;
|
||||
this.running = true;
|
||||
this.stepping = false;
|
||||
this.debugRender = false;
|
||||
this.step = () => {};
|
||||
this.restart = () => {};
|
||||
this.takeSnapshot = () => {};
|
||||
this.restoreSnapshot = () => {};
|
||||
this.backends = backends;
|
||||
this.builders = builders;
|
||||
this.debugInfos = false;
|
||||
}
|
||||
}
|
||||
|
||||
export class Testbed {
|
||||
RAPIER: RAPIER_API;
|
||||
gui: Gui;
|
||||
graphics: Graphics;
|
||||
inhibitLookAt: boolean;
|
||||
parameters: SimulationParameters;
|
||||
demoToken: number;
|
||||
mouse: {x: number; y: number};
|
||||
events: RAPIER.EventQueue;
|
||||
world: RAPIER.World;
|
||||
preTimestepAction?: (gfx: Graphics) => void;
|
||||
stepId: number;
|
||||
prevDemo: string;
|
||||
lastMessageTime: number;
|
||||
snap: Uint8Array;
|
||||
snapStepId: number;
|
||||
|
||||
constructor(RAPIER: RAPIER_API, builders: Builders) {
|
||||
let backends = ["rapier"];
|
||||
this.RAPIER = RAPIER;
|
||||
let parameters = new SimulationParameters(backends, builders);
|
||||
this.gui = new Gui(this, parameters);
|
||||
this.graphics = new Graphics();
|
||||
this.inhibitLookAt = false;
|
||||
this.parameters = parameters;
|
||||
this.demoToken = 0;
|
||||
this.mouse = {x: 0, y: 0};
|
||||
this.events = new RAPIER.EventQueue(true);
|
||||
|
||||
this.switchToDemo(builders.keys().next().value);
|
||||
|
||||
window.addEventListener("mousemove", (event) => {
|
||||
this.mouse.x = (event.clientX / window.innerWidth) * 2 - 1;
|
||||
this.mouse.y = 1 - (event.clientY / window.innerHeight) * 2;
|
||||
});
|
||||
}
|
||||
|
||||
setpreTimestepAction(action: (gfx: Graphics) => void) {
|
||||
this.preTimestepAction = action;
|
||||
}
|
||||
|
||||
setWorld(world: RAPIER.World) {
|
||||
document.onkeydown = null; // Reset key events.
|
||||
document.onkeyup = null; // Reset key events.
|
||||
|
||||
this.preTimestepAction = null;
|
||||
this.world = world;
|
||||
this.world.numSolverIterations = this.parameters.numSolverIters;
|
||||
this.demoToken += 1;
|
||||
this.stepId = 0;
|
||||
this.gui.resetTiming();
|
||||
|
||||
world.forEachCollider((coll) => {
|
||||
this.graphics.addCollider(this.RAPIER, world, coll);
|
||||
});
|
||||
|
||||
this.lastMessageTime = new Date().getTime();
|
||||
}
|
||||
|
||||
lookAt(pos: Parameters<Graphics["lookAt"]>[0]) {
|
||||
if (!this.inhibitLookAt) {
|
||||
this.graphics.lookAt(pos);
|
||||
}
|
||||
|
||||
this.inhibitLookAt = false;
|
||||
}
|
||||
|
||||
switchToDemo(demo: string) {
|
||||
if (demo == this.prevDemo) {
|
||||
this.inhibitLookAt = true;
|
||||
}
|
||||
|
||||
this.prevDemo = demo;
|
||||
this.graphics.reset();
|
||||
|
||||
this.parameters.prevBackend = this.parameters.backend;
|
||||
this.parameters.builders.get(demo)(this.RAPIER, this);
|
||||
}
|
||||
|
||||
switchToBackend(backend: string) {
|
||||
this.switchToDemo(this.parameters.demo);
|
||||
}
|
||||
|
||||
takeSnapshot() {
|
||||
this.snap = this.world.takeSnapshot();
|
||||
this.snapStepId = this.stepId;
|
||||
}
|
||||
|
||||
restoreSnapshot() {
|
||||
if (!!this.snap) {
|
||||
this.world.free();
|
||||
this.world = this.RAPIER.World.restoreSnapshot(this.snap);
|
||||
this.stepId = this.snapStepId;
|
||||
}
|
||||
}
|
||||
|
||||
run() {
|
||||
if (this.parameters.running || this.parameters.stepping) {
|
||||
this.world.numSolverIterations = this.parameters.numSolverIters;
|
||||
|
||||
if (!!this.preTimestepAction) {
|
||||
this.preTimestepAction(this.graphics);
|
||||
}
|
||||
|
||||
let t0 = new Date().getTime();
|
||||
this.world.step(this.events);
|
||||
this.gui.setTiming(new Date().getTime() - t0);
|
||||
this.stepId += 1;
|
||||
|
||||
if (!!this.parameters.debugInfos) {
|
||||
let t0 = performance.now();
|
||||
let snapshot = this.world.takeSnapshot();
|
||||
let t1 = performance.now();
|
||||
let snapshotTime = t1 - t0;
|
||||
|
||||
let debugInfos: DebugInfos = {
|
||||
token: this.demoToken,
|
||||
stepId: this.stepId,
|
||||
worldHash: "",
|
||||
worldHashTime: 0,
|
||||
snapshotTime: 0,
|
||||
timingStep: this.world.timingStep(),
|
||||
timingCollisionDetection:
|
||||
this.world.timingCollisionDetection(),
|
||||
timingBroadPhase: this.world.timingBroadPhase(),
|
||||
timingNarrowPhase: this.world.timingNarrowPhase(),
|
||||
timingSolver: this.world.timingSolver(),
|
||||
timingVelocityAssembly: this.world.timingVelocityAssembly(),
|
||||
timingVelocityResolution:
|
||||
this.world.timingVelocityResolution(),
|
||||
timingVelocityUpdate: this.world.timingVelocityUpdate(),
|
||||
timingVelocityWriteback:
|
||||
this.world.timingVelocityWriteback(),
|
||||
timingCcd: this.world.timingCcd(),
|
||||
timingCcdToiComputation:
|
||||
this.world.timingCcdToiComputation(),
|
||||
timingCcdBroadPhase: this.world.timingCcdBroadPhase(),
|
||||
timingCcdNarrowPhase: this.world.timingCcdNarrowPhase(),
|
||||
timingCcdSolver: this.world.timingCcdSolver(),
|
||||
timingIslandConstruction:
|
||||
this.world.timingIslandConstruction(),
|
||||
timingUserChanges: this.world.timingUserChanges(),
|
||||
};
|
||||
t0 = performance.now();
|
||||
xxhash128(snapshot).then((hash) => {
|
||||
debugInfos.worldHash = hash;
|
||||
t1 = performance.now();
|
||||
let worldHashTime = t1 - t0;
|
||||
debugInfos.worldHashTime = worldHashTime;
|
||||
debugInfos.snapshotTime = snapshotTime;
|
||||
this.gui.setDebugInfos(debugInfos);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
if (this.parameters.stepping) {
|
||||
this.parameters.running = false;
|
||||
this.parameters.stepping = false;
|
||||
}
|
||||
|
||||
this.gui.stats.begin();
|
||||
this.graphics.render(this.world, this.parameters.debugRender);
|
||||
this.gui.stats.end();
|
||||
|
||||
requestAnimationFrame(() => this.run());
|
||||
}
|
||||
}
|
||||
75
thirdparty/rapier.js/testbed3d/src/demos/ccd.ts
vendored
Normal file
75
thirdparty/rapier.js/testbed3d/src/demos/ccd.ts
vendored
Normal file
@@ -0,0 +1,75 @@
|
||||
import type RAPIER from "@dimforge/rapier3d";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function createWall(
|
||||
RAPIER: RAPIER_API,
|
||||
testbed: Testbed,
|
||||
world: RAPIER.World,
|
||||
offset: {x: number; y: number; z: number},
|
||||
stackHeight: number,
|
||||
) {
|
||||
let i, j;
|
||||
|
||||
let shiftY = 1.0;
|
||||
let shiftZ = 2.0;
|
||||
|
||||
for (i = 0; i < stackHeight; ++i) {
|
||||
for (j = i; j < stackHeight; ++j) {
|
||||
let x = offset.x;
|
||||
let y = i * shiftY + offset.y;
|
||||
let z =
|
||||
(i * shiftZ) / 2.0 + (j - i) * shiftZ + offset.z - stackHeight;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5, 1.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let groundHeight = 0.1;
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(30.0, 0.1, 30.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
let numX = 5;
|
||||
let numZ = 8;
|
||||
let shiftY = groundHeight + 0.5;
|
||||
|
||||
let i;
|
||||
for (i = 0; i < numX; ++i) {
|
||||
let x = i * 6.0;
|
||||
createWall(RAPIER, testbed, world, {x: x, y: shiftY, z: 0.0}, numZ);
|
||||
}
|
||||
|
||||
// A very fast rigid-body with CCD enabled.
|
||||
// Create dynamic cube.
|
||||
bodyDesc = RAPIER.RigidBodyDesc.dynamic()
|
||||
.setTranslation(-20.0, shiftY + 2.0, 0.0)
|
||||
.setLinvel(1000.0, 0.0, 0.0)
|
||||
.setCcdEnabled(true);
|
||||
body = world.createRigidBody(bodyDesc);
|
||||
colliderDesc = RAPIER.ColliderDesc.ball(1.0).setDensity(10.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: -31.96000000000001, y: 19.730000000000008, z: -27.86},
|
||||
target: {x: -0.0505, y: -0.4126, z: -0.0229},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
106
thirdparty/rapier.js/testbed3d/src/demos/characterController.ts
vendored
Normal file
106
thirdparty/rapier.js/testbed3d/src/demos/characterController.ts
vendored
Normal file
@@ -0,0 +1,106 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(15.0, 0.1, 15.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Dynamic cubes.
|
||||
let rad = 0.5;
|
||||
let num = 5;
|
||||
let i, j, k;
|
||||
let shift = rad * 2.5;
|
||||
let center = num * rad;
|
||||
let height = 5.0;
|
||||
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (j = i; j < num; ++j) {
|
||||
for (k = i; k < num; ++k) {
|
||||
let x = (i * shift) / 2.0 + (k - i) * shift - center;
|
||||
let y = (i * shift) / 2.0 + height;
|
||||
let z = (i * shift) / 2.0 + (j - i) * shift - center;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad / 2.0,
|
||||
rad,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Character.
|
||||
let characterDesc =
|
||||
RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
|
||||
-10.0,
|
||||
4.0,
|
||||
-10.0,
|
||||
);
|
||||
let character = world.createRigidBody(characterDesc);
|
||||
let characterColliderDesc = RAPIER.ColliderDesc.cylinder(1.2, 0.6);
|
||||
let characterCollider = world.createCollider(
|
||||
characterColliderDesc,
|
||||
character,
|
||||
);
|
||||
|
||||
let characterController = world.createCharacterController(0.1);
|
||||
characterController.enableAutostep(0.7, 0.3, true);
|
||||
characterController.enableSnapToGround(0.7);
|
||||
|
||||
let speed = 0.2;
|
||||
let movementDirection = {x: 0.0, y: -speed, z: 0.0};
|
||||
|
||||
let updateCharacter = () => {
|
||||
characterController.computeColliderMovement(
|
||||
characterCollider,
|
||||
movementDirection,
|
||||
);
|
||||
|
||||
let movement = characterController.computedMovement();
|
||||
let newPos = character.translation();
|
||||
newPos.x += movement.x;
|
||||
newPos.y += movement.y;
|
||||
newPos.z += movement.z;
|
||||
character.setNextKinematicTranslation(newPos);
|
||||
};
|
||||
|
||||
testbed.setWorld(world);
|
||||
testbed.setpreTimestepAction(updateCharacter);
|
||||
|
||||
document.onkeydown = function (event: KeyboardEvent) {
|
||||
if (event.key == "ArrowUp") movementDirection.x = speed;
|
||||
if (event.key == "ArrowDown") movementDirection.x = -speed;
|
||||
if (event.key == "ArrowLeft") movementDirection.z = -speed;
|
||||
if (event.key == "ArrowRight") movementDirection.z = speed;
|
||||
if (event.key == " ") movementDirection.y = speed;
|
||||
};
|
||||
|
||||
document.onkeyup = function (event: KeyboardEvent) {
|
||||
if (event.key == "ArrowUp") movementDirection.x = 0.0;
|
||||
if (event.key == "ArrowDown") movementDirection.x = 0.0;
|
||||
if (event.key == "ArrowLeft") movementDirection.z = 0.0;
|
||||
if (event.key == "ArrowRight") movementDirection.z = 0.0;
|
||||
if (event.key == " ") movementDirection.y = -speed; // Gravity
|
||||
};
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {x: -40.0, y: 19.730000000000008, z: 0.0},
|
||||
target: {x: 0.0, y: -0.4126, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
73
thirdparty/rapier.js/testbed3d/src/demos/collisionGroups.ts
vendored
Normal file
73
thirdparty/rapier.js/testbed3d/src/demos/collisionGroups.ts
vendored
Normal file
@@ -0,0 +1,73 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let groundBody = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(5.0, 0.1, 5.0);
|
||||
world.createCollider(colliderDesc, groundBody);
|
||||
|
||||
// Setup groups.
|
||||
let group1 = 0x00010001;
|
||||
let group2 = 0x00020002;
|
||||
|
||||
// Add one floor that collides with the first group only.
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 0.1, 1.0)
|
||||
.setTranslation(0.0, 1.0, 0.0)
|
||||
.setCollisionGroups(group1);
|
||||
world.createCollider(colliderDesc, groundBody);
|
||||
|
||||
// Add one floor that collides with the second group only.
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 0.1, 1.0)
|
||||
.setTranslation(0.0, 2.0, 0.0)
|
||||
.setCollisionGroups(group2);
|
||||
world.createCollider(colliderDesc, groundBody);
|
||||
|
||||
// Dynamic cubes.
|
||||
let num = 8;
|
||||
let rad = 0.1;
|
||||
|
||||
let shift = rad * 2.0;
|
||||
let centerx = shift * (num / 2);
|
||||
let centery = 2.5;
|
||||
let centerz = shift * (num / 2);
|
||||
let i, j, k;
|
||||
|
||||
for (j = 0; j < 4; j++) {
|
||||
for (i = 0; i < num; i++) {
|
||||
for (k = 0; k < num; k++) {
|
||||
let x = i * shift - centerx;
|
||||
let y = j * shift + centery;
|
||||
let z = k * shift - centerz;
|
||||
|
||||
// Alternate between the green and blue groups.
|
||||
let group = k % 2 == 0 ? group1 : group2;
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad,
|
||||
rad,
|
||||
).setCollisionGroups(group);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: 10.0, y: 5.0, z: 10.0},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
111
thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts
vendored
Normal file
111
thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts
vendored
Normal file
@@ -0,0 +1,111 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
import seedrandom from "seedrandom";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
|
||||
let vertices = [];
|
||||
let indices = [];
|
||||
|
||||
let elementWidth = 1.0 / nsubdivs;
|
||||
let rng = seedrandom("trimesh");
|
||||
|
||||
let i, j;
|
||||
for (i = 0; i <= nsubdivs; ++i) {
|
||||
for (j = 0; j <= nsubdivs; ++j) {
|
||||
let x = (j * elementWidth - 0.5) * wx;
|
||||
let y = rng() * wy;
|
||||
let z = (i * elementWidth - 0.5) * wz;
|
||||
|
||||
vertices.push(x, y, z);
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < nsubdivs; ++i) {
|
||||
for (j = 0; j < nsubdivs; ++j) {
|
||||
let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
|
||||
let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
|
||||
let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
|
||||
let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
|
||||
|
||||
indices.push(i1, i3, i2);
|
||||
indices.push(i3, i4, i2);
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
vertices: new Float32Array(vertices),
|
||||
indices: new Uint32Array(indices),
|
||||
};
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let trimesh = generateTriMesh(20, 40.0, 4.0, 40.0);
|
||||
let colliderDesc = RAPIER.ColliderDesc.trimesh(
|
||||
trimesh.vertices,
|
||||
trimesh.indices,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
/*
|
||||
* Create the polyhedra
|
||||
*/
|
||||
let num = 5;
|
||||
let scale = 2.0;
|
||||
let border_rad = 0.1;
|
||||
|
||||
let shift = border_rad * 2.0 + scale;
|
||||
let centerx = shift * (num / 2);
|
||||
let centery = shift / 2.0;
|
||||
let centerz = shift * (num / 2);
|
||||
|
||||
let rng = seedrandom("convexPolyhedron");
|
||||
let i, j, k, l;
|
||||
|
||||
for (j = 0; j < 15; ++j) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (k = 0; k < num; ++k) {
|
||||
let x = i * shift - centerx;
|
||||
let y = j * shift + centery + 3.0;
|
||||
let z = k * shift - centerz;
|
||||
|
||||
let vertices = [];
|
||||
for (l = 0; l < 10; ++l) {
|
||||
vertices.push(rng() * scale, rng() * scale, rng() * scale);
|
||||
}
|
||||
let v = new Float32Array(vertices);
|
||||
|
||||
// Build the rigid body.
|
||||
bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
body = world.createRigidBody(bodyDesc);
|
||||
colliderDesc = RAPIER.ColliderDesc.roundConvexHull(
|
||||
v,
|
||||
border_rad,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -88.48024008669711,
|
||||
y: 46.911325612198354,
|
||||
z: 83.56055570254844,
|
||||
},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
42
thirdparty/rapier.js/testbed3d/src/demos/damping.ts
vendored
Normal file
42
thirdparty/rapier.js/testbed3d/src/demos/damping.ts
vendored
Normal file
@@ -0,0 +1,42 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, 0.0, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
/*
|
||||
* Create the cubes
|
||||
*/
|
||||
let num = 10;
|
||||
let rad = 0.2;
|
||||
|
||||
let subdiv = 1.0 / num;
|
||||
|
||||
let i;
|
||||
for (i = 0; i < num; ++i) {
|
||||
let x = Math.sin(i * subdiv * Math.PI * 2.0);
|
||||
let y = Math.cos(i * subdiv * Math.PI * 2.0);
|
||||
|
||||
// Build the rigid body.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic()
|
||||
.setTranslation(x, y, 0.0)
|
||||
.setLinvel(x * 10.0, y * 10.0, 0.0)
|
||||
.setAngvel(new RAPIER.Vector3(0.0, 0.0, 100.0))
|
||||
.setLinearDamping((i + 1) * subdiv * 10.0)
|
||||
.setAngularDamping((num - i) * subdiv * 10.0);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
|
||||
// Build the collider.
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: 0, y: 2.0, z: 20},
|
||||
target: {x: 0, y: 2.0, z: 0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
78
thirdparty/rapier.js/testbed3d/src/demos/fountain.ts
vendored
Normal file
78
thirdparty/rapier.js/testbed3d/src/demos/fountain.ts
vendored
Normal file
@@ -0,0 +1,78 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
let removableBodies = new Array();
|
||||
|
||||
// Create Ground.
|
||||
let groundBodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let groundBody = world.createRigidBody(groundBodyDesc);
|
||||
let groundColliderDesc = RAPIER.ColliderDesc.cuboid(40.0, 0.1, 40.0);
|
||||
world.createCollider(groundColliderDesc, groundBody);
|
||||
|
||||
// Dynamic cubes.
|
||||
let rad = 1.0;
|
||||
let j = 0;
|
||||
let spawn_interval = 5;
|
||||
|
||||
let spawnBodies = (graphics: Testbed["graphics"]) => {
|
||||
j += 1;
|
||||
if (j % spawn_interval != 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic()
|
||||
.setLinvel(0.0, 15.0, 0.0)
|
||||
.setTranslation(0.0, 10.0, 0.0);
|
||||
let colliderDesc;
|
||||
|
||||
switch ((j / spawn_interval) % 4) {
|
||||
case 0:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
break;
|
||||
case 1:
|
||||
colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
break;
|
||||
case 2:
|
||||
colliderDesc = RAPIER.ColliderDesc.roundCylinder(
|
||||
rad,
|
||||
rad,
|
||||
rad / 10.0,
|
||||
);
|
||||
break;
|
||||
case 3:
|
||||
colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
|
||||
break;
|
||||
}
|
||||
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let collider = world.createCollider(colliderDesc, body);
|
||||
graphics.addCollider(RAPIER, world, collider);
|
||||
|
||||
removableBodies.push(body);
|
||||
|
||||
// We reached the max number, delete the oldest rigid-body.
|
||||
if (removableBodies.length > 400) {
|
||||
let rb = removableBodies[0];
|
||||
world.removeRigidBody(rb);
|
||||
graphics.removeRigidBody(rb);
|
||||
removableBodies.shift();
|
||||
}
|
||||
};
|
||||
|
||||
testbed.setWorld(world);
|
||||
testbed.setpreTimestepAction(spawnBodies);
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -88.48024008669711,
|
||||
y: 46.911325612198354,
|
||||
z: 83.56055570254844,
|
||||
},
|
||||
target: {x: 0.0, y: 10.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
68
thirdparty/rapier.js/testbed3d/src/demos/glbToTrimesh.ts
vendored
Normal file
68
thirdparty/rapier.js/testbed3d/src/demos/glbToTrimesh.ts
vendored
Normal file
@@ -0,0 +1,68 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
import {Vector3, Object3D, Mesh, BufferGeometry, BufferAttribute} from "three";
|
||||
import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader";
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
testbed.parameters.debugRender = true;
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let groundBody = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(5.0, 0.1, 5.0);
|
||||
world.createCollider(colliderDesc, groundBody);
|
||||
|
||||
// Adding the 3d model
|
||||
|
||||
let loader = new GLTFLoader();
|
||||
|
||||
loader.load("./suzanne_blender_monkey.glb", (gltf) => {
|
||||
gltf.scene.position.set(0, 1.2, 0);
|
||||
gltf.scene.scale.set(3, 3, 3);
|
||||
testbed.graphics.scene.add(gltf.scene);
|
||||
gltf.scene.updateMatrixWorld(true); // ensure world matrix is up to date
|
||||
gltf.scene.traverse((child: Object3D) => {
|
||||
if ((child as Mesh).isMesh && (child as Mesh).geometry) {
|
||||
const mesh = child as Mesh;
|
||||
const geometry = mesh.geometry as BufferGeometry;
|
||||
|
||||
const vertices: number[] = [];
|
||||
const indices = new Uint32Array(geometry.index!.array); // assume index is non-null
|
||||
const positionAttribute = geometry.getAttribute(
|
||||
"position",
|
||||
) as BufferAttribute;
|
||||
|
||||
mesh.updateWorldMatrix(true, true);
|
||||
|
||||
const v = new Vector3();
|
||||
|
||||
for (let i = 0, l = positionAttribute.count; i < l; i++) {
|
||||
v.fromBufferAttribute(positionAttribute, i);
|
||||
v.applyMatrix4(mesh.matrixWorld);
|
||||
vertices.push(v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
const verticesArray = new Float32Array(vertices);
|
||||
|
||||
const rigidBodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
const rigidBody = world.createRigidBody(rigidBodyDesc);
|
||||
|
||||
const colliderDesc = RAPIER.ColliderDesc.trimesh(
|
||||
verticesArray,
|
||||
indices,
|
||||
);
|
||||
world.createCollider(colliderDesc, rigidBody);
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: 10.0, y: 5.0, z: 10.0},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
68
thirdparty/rapier.js/testbed3d/src/demos/glbtoConvexHull.ts
vendored
Normal file
68
thirdparty/rapier.js/testbed3d/src/demos/glbtoConvexHull.ts
vendored
Normal file
@@ -0,0 +1,68 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
import {
|
||||
Vector3,
|
||||
Object3D,
|
||||
Mesh,
|
||||
BufferGeometry,
|
||||
BufferAttribute,
|
||||
TriangleStripDrawMode,
|
||||
} from "three";
|
||||
import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader";
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let groundBody = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(5.0, 0.1, 5.0);
|
||||
world.createCollider(colliderDesc, groundBody);
|
||||
|
||||
// Adding the 3d model
|
||||
|
||||
let loader = new GLTFLoader();
|
||||
|
||||
loader.load("./suzanne_blender_monkey.glb", (gltf) => {
|
||||
gltf.scene.position.set(0, 1.2, 0);
|
||||
gltf.scene.scale.set(3, 3, 3);
|
||||
testbed.graphics.scene.add(gltf.scene);
|
||||
testbed.parameters.debugRender = true;
|
||||
gltf.scene.updateMatrixWorld(true); // ensure world matrix is up to date
|
||||
|
||||
const v = new Vector3();
|
||||
const positions: number[] = [];
|
||||
|
||||
gltf.scene.traverse((child: Object3D) => {
|
||||
if ((child as Mesh).isMesh && (child as Mesh).geometry) {
|
||||
const mesh = child as Mesh;
|
||||
const geometry = mesh.geometry as BufferGeometry;
|
||||
const positionAttribute = geometry.getAttribute(
|
||||
"position",
|
||||
) as BufferAttribute;
|
||||
|
||||
for (let i = 0, l = positionAttribute.count; i < l; i++) {
|
||||
v.fromBufferAttribute(positionAttribute, i);
|
||||
v.applyMatrix4(mesh.matrixWorld);
|
||||
positions.push(v.x, v.y, v.z);
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
const rigidBodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
const rigidBody = world.createRigidBody(rigidBodyDesc);
|
||||
|
||||
const colliderDesc = RAPIER.ColliderDesc.convexHull(
|
||||
new Float32Array(positions),
|
||||
);
|
||||
world.createCollider(colliderDesc, rigidBody);
|
||||
});
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: 10.0, y: 5.0, z: 10.0},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
126
thirdparty/rapier.js/testbed3d/src/demos/heightfield.ts
vendored
Normal file
126
thirdparty/rapier.js/testbed3d/src/demos/heightfield.ts
vendored
Normal file
@@ -0,0 +1,126 @@
|
||||
import seedrandom from "seedrandom";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function generateHeightfield(nsubdivs: number) {
|
||||
let heights = [];
|
||||
|
||||
let rng = seedrandom("heightfield");
|
||||
|
||||
let i, j;
|
||||
for (i = 0; i <= nsubdivs; ++i) {
|
||||
for (j = 0; j <= nsubdivs; ++j) {
|
||||
heights.push(rng());
|
||||
}
|
||||
}
|
||||
|
||||
return new Float32Array(heights);
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let nsubdivs = 20;
|
||||
let scale = new RAPIER.Vector3(70.0, 4.0, 70.0);
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let heights = generateHeightfield(nsubdivs);
|
||||
let colliderDesc = RAPIER.ColliderDesc.heightfield(
|
||||
nsubdivs,
|
||||
nsubdivs,
|
||||
heights,
|
||||
scale,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Dynamic cubes.
|
||||
let num = 4;
|
||||
let numy = 10;
|
||||
let rad = 1.0;
|
||||
|
||||
let shift = rad * 2.0 + rad;
|
||||
let centery = shift / 2.0;
|
||||
|
||||
let offset = -num * (rad * 2.0 + rad) * 0.5;
|
||||
let i, j, k;
|
||||
|
||||
for (j = 0; j < numy; ++j) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (k = 0; k < num; ++k) {
|
||||
let x = i * shift + offset;
|
||||
let y = j * shift + centery + 3.0;
|
||||
let z = k * shift + offset;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc;
|
||||
|
||||
switch (j % 5) {
|
||||
case 0:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad,
|
||||
rad,
|
||||
);
|
||||
break;
|
||||
case 1:
|
||||
colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
break;
|
||||
case 2:
|
||||
colliderDesc = RAPIER.ColliderDesc.roundCylinder(
|
||||
rad,
|
||||
rad,
|
||||
rad / 10.0,
|
||||
);
|
||||
break;
|
||||
case 3:
|
||||
colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
|
||||
break;
|
||||
case 4:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(rad, 0.0, 0.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(-rad, 0.0, 0.0);
|
||||
break;
|
||||
}
|
||||
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
|
||||
offset -= 0.05 * rad * (num - 1.0);
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -88.48024008669711,
|
||||
y: 46.911325612198354,
|
||||
z: 83.56055570254844,
|
||||
},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
292
thirdparty/rapier.js/testbed3d/src/demos/joints.ts
vendored
Normal file
292
thirdparty/rapier.js/testbed3d/src/demos/joints.ts
vendored
Normal file
@@ -0,0 +1,292 @@
|
||||
import type RAPIER from "@dimforge/rapier3d";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function createPrismaticJoints(
|
||||
RAPIER: RAPIER_API,
|
||||
world: RAPIER.World,
|
||||
origin: RAPIER.Vector,
|
||||
num: number,
|
||||
) {
|
||||
let rad = 0.4;
|
||||
let shift = 1.0;
|
||||
|
||||
let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
|
||||
origin.x,
|
||||
origin.y,
|
||||
origin.z,
|
||||
);
|
||||
let currParent = world.createRigidBody(groundDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
world.createCollider(colliderDesc, currParent);
|
||||
|
||||
let i;
|
||||
let z;
|
||||
|
||||
for (i = 0; i < num; ++i) {
|
||||
z = origin.z + (i + 1) * shift;
|
||||
let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
origin.x,
|
||||
origin.y,
|
||||
z,
|
||||
);
|
||||
let currChild = world.createRigidBody(rigidBodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
world.createCollider(colliderDesc, currChild);
|
||||
|
||||
let axis;
|
||||
|
||||
if (i % 2 == 0) {
|
||||
axis = new RAPIER.Vector3(1.0, 1.0, 0.0);
|
||||
} else {
|
||||
axis = new RAPIER.Vector3(-1.0, 1.0, 0.0);
|
||||
}
|
||||
|
||||
z = new RAPIER.Vector3(0.0, 0.0, 1.0);
|
||||
let prism = RAPIER.JointData.prismatic(
|
||||
new RAPIER.Vector3(0.0, 0.0, 0.0),
|
||||
new RAPIER.Vector3(0.0, 0.0, -shift),
|
||||
axis,
|
||||
);
|
||||
prism.limitsEnabled = true;
|
||||
prism.limits = [-2.0, 2.0];
|
||||
world.createImpulseJoint(prism, currParent, currChild, true);
|
||||
|
||||
currParent = currChild;
|
||||
}
|
||||
}
|
||||
|
||||
function createRevoluteJoints(
|
||||
RAPIER: RAPIER_API,
|
||||
world: RAPIER.World,
|
||||
origin: RAPIER.Vector3,
|
||||
num: number,
|
||||
) {
|
||||
let rad = 0.4;
|
||||
let shift = 2.0;
|
||||
|
||||
let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
|
||||
origin.x,
|
||||
origin.y,
|
||||
0.0,
|
||||
);
|
||||
let currParent = world.createRigidBody(groundDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
world.createCollider(colliderDesc, currParent);
|
||||
|
||||
let i, k;
|
||||
let z;
|
||||
|
||||
for (i = 0; i < num; ++i) {
|
||||
// Create four bodies.
|
||||
z = origin.z + i * shift * 2.0 + shift;
|
||||
|
||||
let positions = [
|
||||
new RAPIER.Vector3(origin.x, origin.y, z),
|
||||
new RAPIER.Vector3(origin.x + shift, origin.y, z),
|
||||
new RAPIER.Vector3(origin.x + shift, origin.y, z + shift),
|
||||
new RAPIER.Vector3(origin.x, origin.y, z + shift),
|
||||
];
|
||||
|
||||
let parents = [currParent, currParent, currParent, currParent];
|
||||
|
||||
for (k = 0; k < 4; ++k) {
|
||||
let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
positions[k].x,
|
||||
positions[k].y,
|
||||
positions[k].z,
|
||||
);
|
||||
let rigidBody = world.createRigidBody(rigidBodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
world.createCollider(colliderDesc, rigidBody);
|
||||
|
||||
parents[k] = rigidBody;
|
||||
}
|
||||
|
||||
// Setup four joints.
|
||||
let o = new RAPIER.Vector3(0.0, 0.0, 0.0);
|
||||
let x = new RAPIER.Vector3(1.0, 0.0, 0.0);
|
||||
z = new RAPIER.Vector3(0.0, 0.0, 1.0);
|
||||
|
||||
let revs = [
|
||||
RAPIER.JointData.revolute(
|
||||
o,
|
||||
new RAPIER.Vector3(0.0, 0.0, -shift),
|
||||
z,
|
||||
),
|
||||
RAPIER.JointData.revolute(
|
||||
o,
|
||||
new RAPIER.Vector3(-shift, 0.0, 0.0),
|
||||
x,
|
||||
),
|
||||
RAPIER.JointData.revolute(
|
||||
o,
|
||||
new RAPIER.Vector3(0.0, 0.0, -shift),
|
||||
z,
|
||||
),
|
||||
RAPIER.JointData.revolute(
|
||||
o,
|
||||
new RAPIER.Vector3(shift, 0.0, 0.0),
|
||||
x,
|
||||
),
|
||||
];
|
||||
|
||||
world.createImpulseJoint(revs[0], currParent, parents[0], true);
|
||||
world.createImpulseJoint(revs[1], parents[0], parents[1], true);
|
||||
world.createImpulseJoint(revs[2], parents[1], parents[2], true);
|
||||
world.createImpulseJoint(revs[3], parents[2], parents[3], true);
|
||||
|
||||
currParent = parents[3];
|
||||
}
|
||||
}
|
||||
|
||||
function createFixedJoints(
|
||||
RAPIER: RAPIER_API,
|
||||
world: RAPIER.World,
|
||||
origin: RAPIER.Vector3,
|
||||
num: number,
|
||||
) {
|
||||
let rad = 0.4;
|
||||
let shift = 1.0;
|
||||
let i, k;
|
||||
let parents = [];
|
||||
|
||||
for (k = 0; k < num; ++k) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
let fk = k;
|
||||
let fi = i;
|
||||
|
||||
// NOTE: the num - 2 test is to avoid two consecutive
|
||||
// fixed bodies. Because physx will crash if we add
|
||||
// a joint between these.
|
||||
let bodyType;
|
||||
|
||||
if (i == 0 && ((k % 4 == 0 && k != num - 2) || k == num - 1)) {
|
||||
bodyType = RAPIER.RigidBodyType.Fixed;
|
||||
} else {
|
||||
bodyType = RAPIER.RigidBodyType.Dynamic;
|
||||
}
|
||||
|
||||
let rigidBody = new RAPIER.RigidBodyDesc(bodyType).setTranslation(
|
||||
origin.x + fk * shift,
|
||||
origin.y,
|
||||
origin.z + fi * shift,
|
||||
);
|
||||
let child = world.createRigidBody(rigidBody);
|
||||
let colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
world.createCollider(colliderDesc, child);
|
||||
|
||||
// Vertical joint.
|
||||
if (i > 0) {
|
||||
let parent = parents[parents.length - 1];
|
||||
let params = RAPIER.JointData.fixed(
|
||||
new RAPIER.Vector3(0.0, 0.0, 0.0),
|
||||
new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
|
||||
new RAPIER.Vector3(0.0, 0.0, -shift),
|
||||
new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
|
||||
);
|
||||
|
||||
world.createImpulseJoint(params, parent, child, true);
|
||||
}
|
||||
|
||||
// Horizontal joint.
|
||||
if (k > 0) {
|
||||
let parent_index = parents.length - num;
|
||||
let parent = parents[parent_index];
|
||||
let params = RAPIER.JointData.fixed(
|
||||
new RAPIER.Vector3(0.0, 0.0, 0.0),
|
||||
new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
|
||||
new RAPIER.Vector3(-shift, 0.0, 0.0),
|
||||
new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
|
||||
);
|
||||
|
||||
world.createImpulseJoint(params, parent, child, true);
|
||||
}
|
||||
|
||||
parents.push(child);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function createBallJoints(
|
||||
RAPIER: RAPIER_API,
|
||||
world: RAPIER.World,
|
||||
num: number,
|
||||
) {
|
||||
let rad = 0.4;
|
||||
let shift = 1.0;
|
||||
let i, k;
|
||||
let parents = [];
|
||||
|
||||
for (k = 0; k < num; ++k) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
let fk = k;
|
||||
let fi = i;
|
||||
|
||||
let bodyType;
|
||||
|
||||
if (i == 0 && (k % 4 == 0 || k == num - 1)) {
|
||||
bodyType = RAPIER.RigidBodyType.Fixed;
|
||||
} else {
|
||||
bodyType = RAPIER.RigidBodyType.Dynamic;
|
||||
}
|
||||
|
||||
let bodyDesc = new RAPIER.RigidBodyDesc(bodyType).setTranslation(
|
||||
fk * shift,
|
||||
0.0,
|
||||
fi * shift,
|
||||
);
|
||||
let child = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
world.createCollider(colliderDesc, child);
|
||||
|
||||
// Vertical joint.
|
||||
let o = new RAPIER.Vector3(0.0, 0.0, 0.0);
|
||||
|
||||
if (i > 0) {
|
||||
let parent = parents[parents.length - 1];
|
||||
let params = RAPIER.JointData.spherical(
|
||||
o,
|
||||
new RAPIER.Vector3(0.0, 0.0, -shift),
|
||||
);
|
||||
world.createImpulseJoint(params, parent, child, true);
|
||||
}
|
||||
|
||||
// Horizontal joint.
|
||||
if (k > 0) {
|
||||
let parent_index = parents.length - num;
|
||||
let parent = parents[parent_index];
|
||||
let params = RAPIER.JointData.spherical(
|
||||
o,
|
||||
new RAPIER.Vector3(-shift, 0.0, 0.0),
|
||||
);
|
||||
world.createImpulseJoint(params, parent, child, true);
|
||||
}
|
||||
|
||||
parents.push(child);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
createPrismaticJoints(
|
||||
RAPIER,
|
||||
world,
|
||||
new RAPIER.Vector3(20.0, 10.0, 0.0),
|
||||
5,
|
||||
);
|
||||
createFixedJoints(RAPIER, world, new RAPIER.Vector3(0.0, 10.0, 0.0), 5);
|
||||
createRevoluteJoints(RAPIER, world, new RAPIER.Vector3(20.0, 0.0, 0.0), 3);
|
||||
createBallJoints(RAPIER, world, 15);
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: 15.0, y: 5.0, z: 42.0},
|
||||
target: {x: 13.0, y: 1.0, z: 1.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
139
thirdparty/rapier.js/testbed3d/src/demos/keva.ts
vendored
Normal file
139
thirdparty/rapier.js/testbed3d/src/demos/keva.ts
vendored
Normal file
@@ -0,0 +1,139 @@
|
||||
import type RAPIER from "@dimforge/rapier3d";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function buildBlock(
|
||||
RAPIER: RAPIER_API,
|
||||
world: RAPIER.World,
|
||||
halfExtents: RAPIER.Vector,
|
||||
shift: RAPIER.Vector,
|
||||
numx: number,
|
||||
numy: number,
|
||||
numz: number,
|
||||
) {
|
||||
let half_extents_zyx = {
|
||||
x: halfExtents.z,
|
||||
y: halfExtents.y,
|
||||
z: halfExtents.x,
|
||||
};
|
||||
let dimensions = [halfExtents, half_extents_zyx];
|
||||
let blockWidth = 2.0 * halfExtents.z * numx;
|
||||
let blockHeight = 2.0 * halfExtents.y * numy;
|
||||
let spacing = (halfExtents.z * numx - halfExtents.x) / (numz - 1.0);
|
||||
|
||||
let i;
|
||||
let j;
|
||||
let k;
|
||||
|
||||
for (i = 0; i < numy; ++i) {
|
||||
[numx, numz] = [numz, numx];
|
||||
let dim = dimensions[i % 2];
|
||||
let y = dim.y * i * 2.0;
|
||||
|
||||
for (j = 0; j < numx; ++j) {
|
||||
let x = i % 2 == 0 ? spacing * j * 2.0 : dim.x * j * 2.0;
|
||||
|
||||
for (k = 0; k < numz; ++k) {
|
||||
let z = i % 2 == 0 ? dim.z * k * 2.0 : spacing * k * 2.0;
|
||||
// Build the rigid body.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x + dim.x + shift.x,
|
||||
y + dim.y + shift.y,
|
||||
z + dim.z + shift.z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
dim.x,
|
||||
dim.y,
|
||||
dim.z,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Close the top.
|
||||
let dim = {x: halfExtents.z, y: halfExtents.x, z: halfExtents.y};
|
||||
|
||||
for (i = 0; i < blockWidth / (dim.x * 2.0); ++i) {
|
||||
for (j = 0; j < blockWidth / (dim.z * 2.0); ++j) {
|
||||
// Build the rigid body.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
i * dim.x * 2.0 + dim.x + shift.x,
|
||||
dim.y + shift.y + blockHeight,
|
||||
j * dim.z * 2.0 + dim.z + shift.z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(dim.x, dim.y, dim.z);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let groundSize = 50.0;
|
||||
let groundHeight = 0.1;
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
|
||||
0.0,
|
||||
-groundHeight,
|
||||
0.0,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
groundSize,
|
||||
groundHeight,
|
||||
groundSize,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Keva tower.
|
||||
let halfExtents = new RAPIER.Vector3(0.1, 0.5, 2.0);
|
||||
let blockHeight = 0.0;
|
||||
// These should only be set to odd values otherwise
|
||||
// the blocks won't align in the nicest way.
|
||||
let numyArr = [0, 3, 5, 5, 7, 9];
|
||||
let numBlocksBuilt = 0;
|
||||
let i;
|
||||
|
||||
for (i = 5; i >= 1; --i) {
|
||||
let numx = i;
|
||||
let numy = numyArr[i];
|
||||
let numz = numx * 3 + 1;
|
||||
let blockWidth = numx * halfExtents.z * 2.0;
|
||||
buildBlock(
|
||||
RAPIER,
|
||||
world,
|
||||
halfExtents,
|
||||
new RAPIER.Vector3(
|
||||
-blockWidth / 2.0,
|
||||
blockHeight,
|
||||
-blockWidth / 2.0,
|
||||
),
|
||||
numx,
|
||||
numy,
|
||||
numz,
|
||||
);
|
||||
blockHeight += numy * halfExtents.y * 2.0 + halfExtents.x * 2.0;
|
||||
numBlocksBuilt += numx * numy * numz;
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -70.38553832116718,
|
||||
y: 17.893810295517365,
|
||||
z: 29.34767842147597,
|
||||
},
|
||||
target: {
|
||||
x: 0.5890869353464383,
|
||||
y: 3.132044603021203,
|
||||
z: -0.2899937806661885,
|
||||
},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
58
thirdparty/rapier.js/testbed3d/src/demos/lockedRotations.ts
vendored
Normal file
58
thirdparty/rapier.js/testbed3d/src/demos/lockedRotations.ts
vendored
Normal file
@@ -0,0 +1,58 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
/*
|
||||
* The ground
|
||||
*/
|
||||
let ground_size = 1.7;
|
||||
let ground_height = 0.1;
|
||||
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
|
||||
0.0,
|
||||
-ground_height,
|
||||
0.0,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
ground_size,
|
||||
ground_height,
|
||||
ground_size,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
/*
|
||||
* A rectangle that only rotates along the `x` axis.
|
||||
*/
|
||||
bodyDesc = RAPIER.RigidBodyDesc.dynamic()
|
||||
.setTranslation(0.0, 3.0, 0.0)
|
||||
.lockTranslations()
|
||||
.enabledRotations(true, false, false);
|
||||
body = world.createRigidBody(bodyDesc);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(0.2, 0.6, 2.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
/*
|
||||
* A cylinder that cannot rotate.
|
||||
*/
|
||||
bodyDesc = RAPIER.RigidBodyDesc.dynamic()
|
||||
.setTranslation(0.2, 5.0, 0.4)
|
||||
.lockRotations();
|
||||
body = world.createRigidBody(bodyDesc);
|
||||
colliderDesc = RAPIER.ColliderDesc.cylinder(0.6, 0.4);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
/*
|
||||
* Setup the testbed.
|
||||
*/
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: -10.0, y: 3.0, z: 0.0},
|
||||
target: {x: 0.0, y: 3.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
127
thirdparty/rapier.js/testbed3d/src/demos/pidController.ts
vendored
Normal file
127
thirdparty/rapier.js/testbed3d/src/demos/pidController.ts
vendored
Normal file
@@ -0,0 +1,127 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(15.0, 0.1, 15.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Dynamic cubes.
|
||||
let rad = 0.5;
|
||||
let num = 5;
|
||||
let i, j, k;
|
||||
let shift = rad * 2.5;
|
||||
let center = num * rad;
|
||||
let height = 5.0;
|
||||
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (j = i; j < num; ++j) {
|
||||
for (k = i; k < num; ++k) {
|
||||
let x = (i * shift) / 2.0 + (k - i) * shift - center;
|
||||
let y = (i * shift) / 2.0 + height;
|
||||
let z = (i * shift) / 2.0 + (j - i) * shift - center;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad / 2.0,
|
||||
rad,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Character.
|
||||
let characterDesc = RAPIER.RigidBodyDesc.dynamic()
|
||||
.setTranslation(-10.0, 4.0, -10.0)
|
||||
.setGravityScale(10.0)
|
||||
.setSoftCcdPrediction(10.0);
|
||||
let character = world.createRigidBody(characterDesc);
|
||||
let characterColliderDesc = RAPIER.ColliderDesc.cylinder(1.2, 0.6);
|
||||
world.createCollider(characterColliderDesc, character);
|
||||
|
||||
let pidController = world.createPidController(
|
||||
60.0,
|
||||
0.0,
|
||||
1.0,
|
||||
RAPIER.PidAxesMask.AllAng,
|
||||
);
|
||||
let speed = 0.2;
|
||||
let movementDirection = {x: 0.0, y: 0.0, z: 0.0};
|
||||
let targetVelocity = {x: 0.0, y: 0.0, z: 0.0};
|
||||
let targetRotation = new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0);
|
||||
|
||||
let updateCharacter = () => {
|
||||
if (
|
||||
movementDirection.x == 0.0 &&
|
||||
movementDirection.y == 0.0 &&
|
||||
movementDirection.z == 0.0
|
||||
) {
|
||||
// Only adjust the rotation, but let translation.
|
||||
pidController.setAxes(RAPIER.PidAxesMask.AllAng);
|
||||
} else if (movementDirection.y == 0.0) {
|
||||
// Don’t control the linear Y axis so the player can fall down due to gravity.
|
||||
pidController.setAxes(
|
||||
RAPIER.PidAxesMask.AllAng |
|
||||
RAPIER.PidAxesMask.LinX |
|
||||
RAPIER.PidAxesMask.LinZ,
|
||||
);
|
||||
} else {
|
||||
pidController.setAxes(RAPIER.PidAxesMask.All);
|
||||
}
|
||||
|
||||
let targetPoint = character.translation();
|
||||
targetPoint.x += movementDirection.x;
|
||||
targetPoint.y += movementDirection.y;
|
||||
targetPoint.z += movementDirection.z;
|
||||
|
||||
pidController.applyLinearCorrection(
|
||||
character,
|
||||
targetPoint,
|
||||
targetVelocity,
|
||||
);
|
||||
pidController.applyAngularCorrection(
|
||||
character,
|
||||
targetRotation,
|
||||
targetVelocity,
|
||||
);
|
||||
};
|
||||
|
||||
testbed.setWorld(world);
|
||||
testbed.setpreTimestepAction(updateCharacter);
|
||||
|
||||
document.onkeydown = function (event: KeyboardEvent) {
|
||||
if (event.key == "ArrowUp") movementDirection.x = speed;
|
||||
if (event.key == "ArrowDown") movementDirection.x = -speed;
|
||||
if (event.key == "ArrowLeft") movementDirection.z = -speed;
|
||||
if (event.key == "ArrowRight") movementDirection.z = speed;
|
||||
if (event.key == " ") movementDirection.y = speed;
|
||||
};
|
||||
|
||||
document.onkeyup = function (event: KeyboardEvent) {
|
||||
if (event.key == "ArrowUp") movementDirection.x = 0.0;
|
||||
if (event.key == "ArrowDown") movementDirection.x = 0.0;
|
||||
if (event.key == "ArrowLeft") movementDirection.z = 0.0;
|
||||
if (event.key == "ArrowRight") movementDirection.z = 0.0;
|
||||
if (event.key == " ") movementDirection.y = 0.0;
|
||||
};
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {x: -40.0, y: 19.730000000000008, z: 0.0},
|
||||
target: {x: 0.0, y: -0.4126, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
153
thirdparty/rapier.js/testbed3d/src/demos/platform.ts
vendored
Normal file
153
thirdparty/rapier.js/testbed3d/src/demos/platform.ts
vendored
Normal file
@@ -0,0 +1,153 @@
|
||||
import seedrandom from "seedrandom";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
|
||||
let vertices = [];
|
||||
let indices = [];
|
||||
|
||||
let elementWidth = 1.0 / nsubdivs;
|
||||
let rng = seedrandom("trimesh");
|
||||
|
||||
let i, j;
|
||||
for (i = 0; i <= nsubdivs; ++i) {
|
||||
for (j = 0; j <= nsubdivs; ++j) {
|
||||
let x = (j * elementWidth - 0.5) * wx;
|
||||
let y = rng() * wy;
|
||||
let z = (i * elementWidth - 0.5) * wz;
|
||||
|
||||
vertices.push(x, y, z);
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < nsubdivs; ++i) {
|
||||
for (j = 0; j < nsubdivs; ++j) {
|
||||
let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
|
||||
let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
|
||||
let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
|
||||
let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
|
||||
|
||||
indices.push(i1, i3, i2);
|
||||
indices.push(i3, i4, i2);
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
vertices: new Float32Array(vertices),
|
||||
indices: new Uint32Array(indices),
|
||||
};
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.kinematicVelocityBased();
|
||||
let platformBody = world.createRigidBody(bodyDesc);
|
||||
let trimesh = generateTriMesh(20, 70.0, 4.0, 70.0);
|
||||
let colliderDesc = RAPIER.ColliderDesc.trimesh(
|
||||
trimesh.vertices,
|
||||
trimesh.indices,
|
||||
);
|
||||
world.createCollider(colliderDesc, platformBody);
|
||||
let t = 0.0;
|
||||
|
||||
let movePlatform = () => {
|
||||
t += 0.016;
|
||||
let dy = Math.sin(t) * 10.0;
|
||||
let dang = Math.sin(t) * 0.2;
|
||||
platformBody.setLinvel({x: 0.0, y: dy, z: 0.0}, true);
|
||||
platformBody.setAngvel({x: 0.0, y: dang, z: 0.0}, true);
|
||||
};
|
||||
|
||||
// Dynamic cubes.
|
||||
let num = 4;
|
||||
let numy = 10;
|
||||
let rad = 1.0;
|
||||
|
||||
let shift = rad * 2.0 + rad;
|
||||
let centery = shift / 2.0;
|
||||
|
||||
let offset = -num * (rad * 2.0 + rad) * 0.5;
|
||||
let i, j, k;
|
||||
|
||||
for (j = 0; j < numy; ++j) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (k = 0; k < num; ++k) {
|
||||
let x = i * shift + offset;
|
||||
let y = j * shift + centery + 3.0;
|
||||
let z = k * shift + offset;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc;
|
||||
|
||||
switch (j % 5) {
|
||||
case 0:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad,
|
||||
rad,
|
||||
);
|
||||
break;
|
||||
case 1:
|
||||
colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
break;
|
||||
case 2:
|
||||
colliderDesc = RAPIER.ColliderDesc.roundCylinder(
|
||||
rad,
|
||||
rad,
|
||||
rad / 10.0,
|
||||
);
|
||||
break;
|
||||
case 3:
|
||||
colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
|
||||
break;
|
||||
case 4:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(rad, 0.0, 0.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(-rad, 0.0, 0.0);
|
||||
break;
|
||||
}
|
||||
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
|
||||
offset -= 0.05 * rad * (num - 1.0);
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
testbed.setpreTimestepAction(movePlatform);
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -88.48024008669711,
|
||||
y: 46.911325612198354,
|
||||
z: 83.56055570254844,
|
||||
},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
51
thirdparty/rapier.js/testbed3d/src/demos/pyramid.ts
vendored
Normal file
51
thirdparty/rapier.js/testbed3d/src/demos/pyramid.ts
vendored
Normal file
@@ -0,0 +1,51 @@
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(30.0, 0.1, 30.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Dynamic cubes.
|
||||
let rad = 0.5;
|
||||
let num = 10;
|
||||
let i, j, k;
|
||||
let shift = rad * 2.5;
|
||||
let center = num * rad;
|
||||
let height = 10.0;
|
||||
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (j = i; j < num; ++j) {
|
||||
for (k = i; k < num; ++k) {
|
||||
let x =
|
||||
(i * shift) / 2.0 + (k - i) * shift - height * rad - center;
|
||||
let y = i * shift + height;
|
||||
let z =
|
||||
(i * shift) / 2.0 + (j - i) * shift - height * rad - center;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
let cameraPosition = {
|
||||
eye: {x: -31.96000000000001, y: 19.730000000000008, z: -27.86},
|
||||
target: {x: -0.0505, y: -0.4126, z: -0.0229},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
143
thirdparty/rapier.js/testbed3d/src/demos/trimesh.ts
vendored
Normal file
143
thirdparty/rapier.js/testbed3d/src/demos/trimesh.ts
vendored
Normal file
@@ -0,0 +1,143 @@
|
||||
import seedrandom from "seedrandom";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
|
||||
let vertices = [];
|
||||
let indices = [];
|
||||
|
||||
let elementWidth = 1.0 / nsubdivs;
|
||||
let rng = seedrandom("trimesh");
|
||||
|
||||
let i, j;
|
||||
for (i = 0; i <= nsubdivs; ++i) {
|
||||
for (j = 0; j <= nsubdivs; ++j) {
|
||||
let x = (j * elementWidth - 0.5) * wx;
|
||||
let y = rng() * wy;
|
||||
let z = (i * elementWidth - 0.5) * wz;
|
||||
|
||||
vertices.push(x, y, z);
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < nsubdivs; ++i) {
|
||||
for (j = 0; j < nsubdivs; ++j) {
|
||||
let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
|
||||
let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
|
||||
let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
|
||||
let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
|
||||
|
||||
indices.push(i1, i3, i2);
|
||||
indices.push(i3, i4, i2);
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
vertices: new Float32Array(vertices),
|
||||
indices: new Uint32Array(indices),
|
||||
};
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let trimesh = generateTriMesh(20, 70.0, 4.0, 70.0);
|
||||
let colliderDesc = RAPIER.ColliderDesc.trimesh(
|
||||
trimesh.vertices,
|
||||
trimesh.indices,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Dynamic cubes.
|
||||
let num = 4;
|
||||
let numy = 10;
|
||||
let rad = 1.0;
|
||||
|
||||
let shift = rad * 2.0 + rad;
|
||||
let centery = shift / 2.0;
|
||||
|
||||
let offset = -num * (rad * 2.0 + rad) * 0.5;
|
||||
let i, j, k;
|
||||
|
||||
for (j = 0; j < numy; ++j) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (k = 0; k < num; ++k) {
|
||||
let x = i * shift + offset;
|
||||
let y = j * shift + centery + 3.0;
|
||||
let z = k * shift + offset;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc;
|
||||
|
||||
switch (j % 5) {
|
||||
case 0:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad,
|
||||
rad,
|
||||
);
|
||||
break;
|
||||
case 1:
|
||||
colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
break;
|
||||
case 2:
|
||||
colliderDesc = RAPIER.ColliderDesc.roundCylinder(
|
||||
rad,
|
||||
rad,
|
||||
rad / 10.0,
|
||||
);
|
||||
break;
|
||||
case 3:
|
||||
colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
|
||||
break;
|
||||
case 4:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(rad, 0.0, 0.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(-rad, 0.0, 0.0);
|
||||
break;
|
||||
}
|
||||
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
|
||||
offset -= 0.05 * rad * (num - 1.0);
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -88.48024008669711,
|
||||
y: 46.911325612198354,
|
||||
z: 83.56055570254844,
|
||||
},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
130
thirdparty/rapier.js/testbed3d/src/demos/voxels.ts
vendored
Normal file
130
thirdparty/rapier.js/testbed3d/src/demos/voxels.ts
vendored
Normal file
@@ -0,0 +1,130 @@
|
||||
import seedrandom from "seedrandom";
|
||||
import type {Testbed} from "../Testbed";
|
||||
|
||||
type RAPIER_API = typeof import("@dimforge/rapier3d");
|
||||
|
||||
function generateVoxels(n: number) {
|
||||
let points = [];
|
||||
|
||||
let i, j;
|
||||
for (i = 0; i <= n; ++i) {
|
||||
for (j = 0; j <= n; ++j) {
|
||||
let y =
|
||||
Math.max(
|
||||
-0.8,
|
||||
Math.min(
|
||||
Math.sin((i / n) * 10.0) * Math.cos((j / n) * 10.0),
|
||||
0.8,
|
||||
),
|
||||
) * 8.0;
|
||||
points.push(i - n / 2.0, y, j - n / 2.0);
|
||||
}
|
||||
}
|
||||
return {
|
||||
points: new Float32Array(points),
|
||||
voxelSize: {x: 1.0, y: 1.2, z: 1.5},
|
||||
};
|
||||
}
|
||||
|
||||
export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
|
||||
let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
|
||||
let world = new RAPIER.World(gravity);
|
||||
|
||||
// Create Ground.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.fixed();
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let voxels = generateVoxels(100);
|
||||
let colliderDesc = RAPIER.ColliderDesc.voxels(
|
||||
voxels.points,
|
||||
voxels.voxelSize,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
|
||||
// Dynamic cubes.
|
||||
let num = 10;
|
||||
let numy = 4;
|
||||
let rad = 1.0;
|
||||
|
||||
let shift = rad * 2.0 + rad;
|
||||
let centery = shift / 2.0;
|
||||
|
||||
let offset = -num * (rad * 2.0 + rad) * 0.5;
|
||||
let i, j, k;
|
||||
|
||||
for (j = 0; j < numy; ++j) {
|
||||
for (i = 0; i < num; ++i) {
|
||||
for (k = 0; k < num; ++k) {
|
||||
let x = i * shift + offset;
|
||||
let y = j * shift + centery + 10.0;
|
||||
let z = k * shift + offset;
|
||||
|
||||
// Create dynamic cube.
|
||||
let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
);
|
||||
let body = world.createRigidBody(bodyDesc);
|
||||
let colliderDesc;
|
||||
|
||||
switch (j % 5) {
|
||||
case 0:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad,
|
||||
rad,
|
||||
rad,
|
||||
);
|
||||
break;
|
||||
case 1:
|
||||
colliderDesc = RAPIER.ColliderDesc.ball(rad);
|
||||
break;
|
||||
case 2:
|
||||
colliderDesc = RAPIER.ColliderDesc.roundCylinder(
|
||||
rad,
|
||||
rad,
|
||||
rad / 10.0,
|
||||
);
|
||||
break;
|
||||
case 3:
|
||||
colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
|
||||
break;
|
||||
case 4:
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
rad / 2.0,
|
||||
);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(rad, 0.0, 0.0);
|
||||
world.createCollider(colliderDesc, body);
|
||||
colliderDesc = RAPIER.ColliderDesc.cuboid(
|
||||
rad / 2.0,
|
||||
rad,
|
||||
rad / 2.0,
|
||||
).setTranslation(-rad, 0.0, 0.0);
|
||||
break;
|
||||
}
|
||||
|
||||
world.createCollider(colliderDesc, body);
|
||||
}
|
||||
}
|
||||
|
||||
offset -= 0.05 * rad * (num - 1.0);
|
||||
}
|
||||
|
||||
testbed.setWorld(world);
|
||||
|
||||
let cameraPosition = {
|
||||
eye: {
|
||||
x: -88.48024008669711,
|
||||
y: 46.911325612198354,
|
||||
z: 83.56055570254844,
|
||||
},
|
||||
target: {x: 0.0, y: 0.0, z: 0.0},
|
||||
};
|
||||
testbed.lookAt(cameraPosition);
|
||||
}
|
||||
42
thirdparty/rapier.js/testbed3d/src/index.ts
vendored
Normal file
42
thirdparty/rapier.js/testbed3d/src/index.ts
vendored
Normal file
@@ -0,0 +1,42 @@
|
||||
import {Testbed} from "./Testbed";
|
||||
import * as Trimesh from "./demos/trimesh";
|
||||
import * as Voxels from "./demos/voxels";
|
||||
import * as CollisionGroups from "./demos/collisionGroups";
|
||||
import * as Pyramid from "./demos/pyramid";
|
||||
import * as Keva from "./demos/keva";
|
||||
import * as Joints from "./demos/joints";
|
||||
import * as Fountain from "./demos/fountain";
|
||||
import * as Damping from "./demos/damping";
|
||||
import * as Heightfield from "./demos/heightfield";
|
||||
import * as LockedRotations from "./demos/lockedRotations";
|
||||
import * as ConvexPolyhedron from "./demos/convexPolyhedron";
|
||||
import * as CCD from "./demos/ccd";
|
||||
import * as Platform from "./demos/platform";
|
||||
import * as CharacterController from "./demos/characterController";
|
||||
import * as PidController from "./demos/pidController";
|
||||
import * as glbToTrimesh from "./demos/glbToTrimesh";
|
||||
import * as glbToConvexHull from "./demos/glbtoConvexHull";
|
||||
|
||||
import("@dimforge/rapier3d").then((RAPIER) => {
|
||||
let builders = new Map([
|
||||
["collision groups", CollisionGroups.initWorld],
|
||||
["character controller", CharacterController.initWorld],
|
||||
["convex polyhedron", ConvexPolyhedron.initWorld],
|
||||
["CCD", CCD.initWorld],
|
||||
["damping", Damping.initWorld],
|
||||
["fountain", Fountain.initWorld],
|
||||
["heightfield", Heightfield.initWorld],
|
||||
["joints", Joints.initWorld],
|
||||
["keva tower", Keva.initWorld],
|
||||
["locked rotations", LockedRotations.initWorld],
|
||||
["pid controller", PidController.initWorld],
|
||||
["platform", Platform.initWorld],
|
||||
["pyramid", Pyramid.initWorld],
|
||||
["triangle mesh", Trimesh.initWorld],
|
||||
["voxels", Voxels.initWorld],
|
||||
["GLTF to convexHull", glbToConvexHull.initWorld],
|
||||
["GLTF to trimesh", glbToTrimesh.initWorld],
|
||||
]);
|
||||
let testbed = new Testbed(RAPIER, builders);
|
||||
testbed.run();
|
||||
});
|
||||
3
thirdparty/rapier.js/testbed3d/static/.htaccess
vendored
Normal file
3
thirdparty/rapier.js/testbed3d/static/.htaccess
vendored
Normal file
@@ -0,0 +1,3 @@
|
||||
RewriteEngine On
|
||||
RewriteCond %{SERVER_PORT} 80
|
||||
RewriteRule ^(.*)$ https://www.rapier.rs/$1 [R,L]
|
||||
18
thirdparty/rapier.js/testbed3d/static/index.html
vendored
Normal file
18
thirdparty/rapier.js/testbed3d/static/index.html
vendored
Normal file
@@ -0,0 +1,18 @@
|
||||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<title>Rapier3D JS bindings demo</title>
|
||||
<style>
|
||||
body {
|
||||
margin: 0;
|
||||
}
|
||||
canvas {
|
||||
display: block;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<script src="index.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
BIN
thirdparty/rapier.js/testbed3d/static/suzanne_blender_monkey.glb
vendored
Normal file
BIN
thirdparty/rapier.js/testbed3d/static/suzanne_blender_monkey.glb
vendored
Normal file
Binary file not shown.
11
thirdparty/rapier.js/testbed3d/tsconfig.json
vendored
Normal file
11
thirdparty/rapier.js/testbed3d/tsconfig.json
vendored
Normal file
@@ -0,0 +1,11 @@
|
||||
{
|
||||
"compilerOptions": {
|
||||
"outDir": "./dist/",
|
||||
"noImplicitAny": true,
|
||||
"module": "es2022",
|
||||
"target": "es2022",
|
||||
"allowJs": true,
|
||||
"moduleResolution": "node",
|
||||
"allowSyntheticDefaultImports": true
|
||||
}
|
||||
}
|
||||
55
thirdparty/rapier.js/testbed3d/webpack.config.js
vendored
Normal file
55
thirdparty/rapier.js/testbed3d/webpack.config.js
vendored
Normal file
@@ -0,0 +1,55 @@
|
||||
const webpack = require("webpack");
|
||||
const path = require("path");
|
||||
const CopyPlugin = require("copy-webpack-plugin");
|
||||
|
||||
const isDev = process.env.NODE_ENV === "development";
|
||||
const dist = path.resolve(__dirname, "dist");
|
||||
|
||||
/**
|
||||
* @type {import('webpack-dev-server').Configuration}
|
||||
*/
|
||||
const devServer = {
|
||||
static: {
|
||||
directory: dist,
|
||||
},
|
||||
allowedHosts: "all",
|
||||
compress: true,
|
||||
};
|
||||
|
||||
/**
|
||||
* @type {import('webpack').Configuration}
|
||||
*/
|
||||
const webpackConfig = {
|
||||
mode: isDev ? "development" : "production",
|
||||
entry: "./src/index.ts",
|
||||
devtool: "inline-source-map",
|
||||
output: {
|
||||
path: dist,
|
||||
filename: "index.js",
|
||||
},
|
||||
resolve: {
|
||||
extensions: [".ts", ".js"],
|
||||
},
|
||||
devServer,
|
||||
performance: false,
|
||||
experiments: {
|
||||
asyncWebAssembly: true,
|
||||
syncWebAssembly: true,
|
||||
},
|
||||
module: {
|
||||
rules: [
|
||||
{
|
||||
test: /\.tsx?$/,
|
||||
use: "ts-loader",
|
||||
exclude: /node_modules/,
|
||||
},
|
||||
],
|
||||
},
|
||||
plugins: [
|
||||
new CopyPlugin({
|
||||
patterns: [{from: "static", to: dist}],
|
||||
}),
|
||||
],
|
||||
};
|
||||
|
||||
module.exports = webpackConfig;
|
||||
Reference in New Issue
Block a user