112 lines
3.1 KiB
TypeScript
112 lines
3.1 KiB
TypeScript
import type {Testbed} from "../Testbed";
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import seedrandom from "seedrandom";
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type RAPIER_API = typeof import("@dimforge/rapier3d");
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function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
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let vertices = [];
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let indices = [];
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let elementWidth = 1.0 / nsubdivs;
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let rng = seedrandom("trimesh");
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let i, j;
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for (i = 0; i <= nsubdivs; ++i) {
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for (j = 0; j <= nsubdivs; ++j) {
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let x = (j * elementWidth - 0.5) * wx;
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let y = rng() * wy;
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let z = (i * elementWidth - 0.5) * wz;
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vertices.push(x, y, z);
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}
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}
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for (i = 0; i < nsubdivs; ++i) {
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for (j = 0; j < nsubdivs; ++j) {
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let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
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let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
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let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
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let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
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indices.push(i1, i3, i2);
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indices.push(i3, i4, i2);
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}
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}
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return {
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vertices: new Float32Array(vertices),
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indices: new Uint32Array(indices),
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};
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}
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export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
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let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
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let world = new RAPIER.World(gravity);
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// Create Ground.
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let bodyDesc = RAPIER.RigidBodyDesc.fixed();
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let body = world.createRigidBody(bodyDesc);
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let trimesh = generateTriMesh(20, 40.0, 4.0, 40.0);
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let colliderDesc = RAPIER.ColliderDesc.trimesh(
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trimesh.vertices,
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trimesh.indices,
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);
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world.createCollider(colliderDesc, body);
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/*
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* Create the polyhedra
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*/
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let num = 5;
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let scale = 2.0;
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let border_rad = 0.1;
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let shift = border_rad * 2.0 + scale;
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let centerx = shift * (num / 2);
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let centery = shift / 2.0;
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let centerz = shift * (num / 2);
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let rng = seedrandom("convexPolyhedron");
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let i, j, k, l;
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for (j = 0; j < 15; ++j) {
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for (i = 0; i < num; ++i) {
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for (k = 0; k < num; ++k) {
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let x = i * shift - centerx;
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let y = j * shift + centery + 3.0;
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let z = k * shift - centerz;
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let vertices = [];
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for (l = 0; l < 10; ++l) {
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vertices.push(rng() * scale, rng() * scale, rng() * scale);
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}
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let v = new Float32Array(vertices);
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// Build the rigid body.
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bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
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x,
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y,
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z,
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);
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body = world.createRigidBody(bodyDesc);
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colliderDesc = RAPIER.ColliderDesc.roundConvexHull(
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v,
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border_rad,
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);
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world.createCollider(colliderDesc, body);
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}
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}
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}
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testbed.setWorld(world);
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let cameraPosition = {
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eye: {
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x: -88.48024008669711,
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y: 46.911325612198354,
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z: 83.56055570254844,
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},
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target: {x: 0.0, y: 0.0, z: 0.0},
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};
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testbed.lookAt(cameraPosition);
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}
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