BlueMagnificent · November 16, 2021 06:17
diff --git a/contact_manifold_check_two.html b/contact_manifold_check_two.html

 <html>
    <head>
        <meta charset="utf-8">
        <title>Collision JS 3D Physics</title>
        <style>
            body { margin: 0; }
        </style>
    </head>
    <body>
        <script src="js/three.js"></script>
        <script src="js/ammo.js"></script>
        <script>

            //variable declaration section
            let physicsWorld, scene, camera, renderer, rigidBodies = [], pos = new THREE.Vector3(), tmpTrans = null;
            let mouseCoords = new THREE.Vector2(), raycaster = new THREE.Raycaster();
            let wall, ball;
            let ttl = 3, ttlCounter = 0, ballInWorld = false;

            const STATE = { DISABLE_DEACTIVATION : 4 };

            //Ammojs Initialization
            Ammo().then(start)

            function start (){

                tmpTrans = new Ammo.btTransform();

                setupPhysicsWorld();

                setupGraphics();

                createWall();

                setupEventHandlers();
                
                renderFrame();

            }

            function setupPhysicsWorld(){

                let collisionConfiguration  = new Ammo.btDefaultCollisionConfiguration(),
                    dispatcher              = new Ammo.btCollisionDispatcher(collisionConfiguration),
                    overlappingPairCache    = new Ammo.btDbvtBroadphase(),
                    solver                  = new Ammo.btSequentialImpulseConstraintSolver();

                physicsWorld           = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
                physicsWorld.setGravity(new Ammo.btVector3(0, 0, 0));

            }


            function setupGraphics(){

                //create clock for timing
                clock = new THREE.Clock();

                //create the scene
                scene = new THREE.Scene();
                scene.background = new THREE.Color( 0xabfeff );

                //create camera
                camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 5000 );
                camera.position.set( 0, 20, 50 );
                camera.lookAt(new THREE.Vector3(0, 20, 0));

                //Add hemisphere light
                let hemiLight = new THREE.HemisphereLight( 0xffffff, 0xffffff, 0.1 );
                hemiLight.color.setHSL( 0.6, 0.6, 0.6 );
                hemiLight.groundColor.setHSL( 0.1, 1, 0.4 );
                hemiLight.position.set( 0, 50, 0 );
                scene.add( hemiLight );

                //Add directional light
                let dirLight = new THREE.DirectionalLight( 0xffffff , 1);
                dirLight.color.setHSL( 0.1, 1, 0.95 );
                dirLight.position.set( -1, 1.75, 1 );
                dirLight.position.multiplyScalar( 100 );
                scene.add( dirLight );

                dirLight.castShadow = true;

                dirLight.shadow.mapSize.width = 2048;
                dirLight.shadow.mapSize.height = 2048;

                let d = 50;

                dirLight.shadow.camera.left = -d;
                dirLight.shadow.camera.right = d;
                dirLight.shadow.camera.top = d;
                dirLight.shadow.camera.bottom = -d;

                dirLight.shadow.camera.far = 13500;

                //Setup the renderer
                renderer = new THREE.WebGLRenderer( { antialias: true } );
                renderer.setClearColor( 0xbfd1e5 );
                renderer.setPixelRatio( window.devicePixelRatio );
                renderer.setSize( window.innerWidth, window.innerHeight );
                document.body.appendChild( renderer.domElement );

                renderer.gammaInput = true;
                renderer.gammaOutput = true;

                renderer.shadowMap.enabled = true;

            }

        
            function renderFrame(){

                let deltaTime = clock.getDelta();

                //update ball time to live if ball in world
                if( ballInWorld ) ttlCounter += deltaTime;

                //if time to live has been exceeded then delete the ball
                if( ttlCounter > ttl ){

                    physicsWorld.removeRigidBody( ball.userData.physicsBody );
                    scene.remove(ball);

                    ttlCounter = 0;
                    ballInWorld = false;

                }

                updatePhysics( deltaTime );

                renderer.render( scene, camera );

                requestAnimationFrame( renderFrame );

            }


            function setupEventHandlers(){

                window.addEventListener( 'resize', onWindowResize, false );
                window.addEventListener( 'mousedown', onMouseDown, false );

            }


            function onWindowResize() {

                camera.aspect = window.innerWidth / window.innerHeight;
                camera.updateProjectionMatrix();

                renderer.setSize( window.innerWidth, window.innerHeight );

            }


            function onMouseDown ( event ) {

                if( ballInWorld ) return;

                mouseCoords.set(  ( event.clientX / window.innerWidth ) * 2 - 1, - ( event.clientY / window.innerHeight ) * 2 + 1 );

                raycaster.setFromCamera( mouseCoords, camera );

                // Create a ball 
                pos.copy( raycaster.ray.direction );
                pos.add( raycaster.ray.origin );

                ball = createBall(pos);
                
                //shoot out the ball
                let ballBody = ball.userData.physicsBody;

                pos.copy( raycaster.ray.direction );
                pos.multiplyScalar( 70 );
                ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );

                ballInWorld = true;

            }


            function createWall(){
                
                let pos = {x: 0, y: 25, z: -15};
                let scale = {x: 50, y: 50, z: 2};
                let quat = {x: 0, y: 0, z: 0, w: 1};
                let mass = 0;

                //threeJS Section
                wall = new THREE.Mesh(new THREE.BoxBufferGeometry(), new THREE.MeshPhongMaterial({color: 0x42f5bf}));

                wall.position.set(pos.x, pos.y, pos.z);
                wall.scale.set(scale.x, scale.y, scale.z);

                wall.castShadow = true;
                wall.receiveShadow = true;

                scene.add(wall);


                //Ammojs Section
                let transform = new Ammo.btTransform();
                transform.setIdentity();
                transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
                transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
                let motionState = new Ammo.btDefaultMotionState( transform );

                let colShape = new Ammo.btBoxShape( new Ammo.btVector3( scale.x * 0.5, scale.y * 0.5, scale.z * 0.5 ) );
                colShape.setMargin( 0.05 );

                let localInertia = new Ammo.btVector3( 0, 0, 0 );
                colShape.calculateLocalInertia( mass, localInertia );

                let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
                let body = new Ammo.btRigidBody( rbInfo );

                body.setFriction(4);
                body.setRollingFriction(10);

                physicsWorld.addRigidBody( body );

                //Let's overlay the wall with a grid for visual calibration
                const gridHelper = new THREE.GridHelper( 50, 50, 0x1111aa, 0xaa1111 );

                scene.add( gridHelper );

                gridHelper.rotateX( THREE.Math.degToRad(90));
                gridHelper.position.y = 25;
                gridHelper.position.z = -14;

                wall.userData.tag = "wall";
                
                body.threeObject = wall;
            }


            function createBall(pos){
                
                let radius = 0.8;
                let quat = {x: 0, y: 0, z: 0, w: 1};
                let mass = 35;

                //threeJS Section
                let ball = ballObject = new THREE.Mesh(new THREE.SphereBufferGeometry(radius), new THREE.MeshPhongMaterial({color: 0x05ff1e}));

                ball.position.set(pos.x, pos.y, pos.z);
                
                ball.castShadow = true;
                ball.receiveShadow = true;

                scene.add(ball);


                //Ammojs Section
                let transform = new Ammo.btTransform();
                transform.setIdentity();
                transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
                transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
                let motionState = new Ammo.btDefaultMotionState( transform );

                let colShape = new Ammo.btSphereShape( radius );
                colShape.setMargin( 0.05 );

                let localInertia = new Ammo.btVector3( 0, 0, 0 );
                colShape.calculateLocalInertia( mass, localInertia );

                let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
                let body = new Ammo.btRigidBody( rbInfo );

                body.setFriction(4);
                body.setRollingFriction(10);

                body.setActivationState( STATE.DISABLE_DEACTIVATION )


                physicsWorld.addRigidBody( body );
                rigidBodies.push(ball);
                
                ball.userData.physicsBody = body;
                ball.userData.tag = "ball";
                
                body.threeObject = ball;

                return ball;
            }


            function updatePhysics( deltaTime ){

                // Step world
                physicsWorld.stepSimulation( deltaTime, 10 );

                // Update rigid bodies
                for ( let i = 0; i < rigidBodies.length; i++ ) {
                    let objThree = rigidBodies[ i ];
                    let objAmmo = objThree.userData.physicsBody;
                    let ms = objAmmo.getMotionState();
                    if ( ms ) {

                        ms.getWorldTransform( tmpTrans );
                        let p = tmpTrans.getOrigin();
                        let q = tmpTrans.getRotation();
                        objThree.position.set( p.x(), p.y(), p.z() );
                        objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );

                    }
                }

                detectCollision();

            }

            function detectCollision(){

                let dispatcher = physicsWorld.getDispatcher();
                let numManifolds = dispatcher.getNumManifolds();

                for ( let i = 0; i < numManifolds; i ++ ) {

                    let contactManifold = dispatcher.getManifoldByIndexInternal( i );

                    let rb0 = Ammo.castObject( contactManifold.getBody0(), Ammo.btRigidBody );
                    let rb1 = Ammo.castObject( contactManifold.getBody1(), Ammo.btRigidBody );
                    let threeObject0 = rb0.threeObject;
                    let threeObject1 = rb1.threeObject;
                    if ( ! threeObject0 && ! threeObject1 ) continue;
                    let userData0 = threeObject0 ? threeObject0.userData : null;
                    let userData1 = threeObject1 ? threeObject1.userData : null;
                    let tag0 = userData0 ? userData0.tag : "none";
                    let tag1 = userData1 ? userData1.tag : "none";

                    let numContacts = contactManifold.getNumContacts();

                    for ( let j = 0; j < numContacts; j++ ) {

                        let contactPoint = contactManifold.getContactPoint( j );
                        let distance = contactPoint.getDistance();

                        if( distance > 0.0 ) continue;

                        let velocity0 = rb0.getLinearVelocity();
                        let velocity1 = rb1.getLinearVelocity();
                        let worldPos0 = contactPoint.get_m_positionWorldOnA();
                        let worldPos1 = contactPoint.get_m_positionWorldOnB();
                        let localPos0 = contactPoint.get_m_localPointA();
                        let localPos1 = contactPoint.get_m_localPointB();
                                                
                        console.log({
                            manifoldIndex: i, 
                            contactIndex: j, 
                            distance: distance, 
                            object0:{
                            tag: tag0,
                            velocity: {x: velocity0.x(), y: velocity0.y(), z: velocity0.z()},
                            worldPos: {x: worldPos0.x(), y: worldPos0.y(), z: worldPos0.z()},
                            localPos: {x: localPos0.x(), y: localPos0.y(), z: localPos0.z()}
                            },
                            object1:{
                            tag: tag1,
                            velocity: {x: velocity1.x(), y: velocity1.y(), z: velocity1.z()},
                            worldPos: {x: worldPos1.x(), y: worldPos1.y(), z: worldPos1.z()},
                            localPos: {x: localPos1.x(), y: localPos1.y(), z: localPos1.z()}
                            }
                        });


                    }

                }

            }


        </script>
    </body>
 </html>

	<html>
	<head>
	<meta charset="utf-8">
	<title>Collision JS 3D Physics</title>
	<style>
	body { margin: 0; }
	</style>
	</head>
	<body>
	<script src="js/three.js"></script>
	<script src="js/ammo.js"></script>
	<script>

	//variable declaration section
	let physicsWorld, scene, camera, renderer, rigidBodies = [], pos = new THREE.Vector3(), tmpTrans = null;
	let mouseCoords = new THREE.Vector2(), raycaster = new THREE.Raycaster();
	let wall, ball;
	let ttl = 3, ttlCounter = 0, ballInWorld = false;

	const STATE = { DISABLE_DEACTIVATION : 4 };

	//Ammojs Initialization
	Ammo().then(start)

	function start (){

	tmpTrans = new Ammo.btTransform();

	setupPhysicsWorld();

	setupGraphics();

	createWall();

	setupEventHandlers();

	renderFrame();

	}

	function setupPhysicsWorld(){

	let collisionConfiguration = new Ammo.btDefaultCollisionConfiguration(),
	dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration),
	overlappingPairCache = new Ammo.btDbvtBroadphase(),
	solver = new Ammo.btSequentialImpulseConstraintSolver();

	physicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
	physicsWorld.setGravity(new Ammo.btVector3(0, 0, 0));

	}


	function setupGraphics(){

	//create clock for timing
	clock = new THREE.Clock();

	//create the scene
	scene = new THREE.Scene();
	scene.background = new THREE.Color( 0xabfeff );

	//create camera
	camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 5000 );
	camera.position.set( 0, 20, 50 );
	camera.lookAt(new THREE.Vector3(0, 20, 0));

	//Add hemisphere light
	let hemiLight = new THREE.HemisphereLight( 0xffffff, 0xffffff, 0.1 );
	hemiLight.color.setHSL( 0.6, 0.6, 0.6 );
	hemiLight.groundColor.setHSL( 0.1, 1, 0.4 );
	hemiLight.position.set( 0, 50, 0 );
	scene.add( hemiLight );

	//Add directional light
	let dirLight = new THREE.DirectionalLight( 0xffffff , 1);
	dirLight.color.setHSL( 0.1, 1, 0.95 );
	dirLight.position.set( -1, 1.75, 1 );
	dirLight.position.multiplyScalar( 100 );
	scene.add( dirLight );

	dirLight.castShadow = true;

	dirLight.shadow.mapSize.width = 2048;
	dirLight.shadow.mapSize.height = 2048;

	let d = 50;

	dirLight.shadow.camera.left = -d;
	dirLight.shadow.camera.right = d;
	dirLight.shadow.camera.top = d;
	dirLight.shadow.camera.bottom = -d;

	dirLight.shadow.camera.far = 13500;

	//Setup the renderer
	renderer = new THREE.WebGLRenderer( { antialias: true } );
	renderer.setClearColor( 0xbfd1e5 );
	renderer.setPixelRatio( window.devicePixelRatio );
	renderer.setSize( window.innerWidth, window.innerHeight );
	document.body.appendChild( renderer.domElement );

	renderer.gammaInput = true;
	renderer.gammaOutput = true;

	renderer.shadowMap.enabled = true;

	}


	function renderFrame(){

	let deltaTime = clock.getDelta();

	//update ball time to live if ball in world
	if( ballInWorld ) ttlCounter += deltaTime;

	//if time to live has been exceeded then delete the ball
	if( ttlCounter > ttl ){

	physicsWorld.removeRigidBody( ball.userData.physicsBody );
	scene.remove(ball);

	ttlCounter = 0;
	ballInWorld = false;

	}

	updatePhysics( deltaTime );

	renderer.render( scene, camera );

	requestAnimationFrame( renderFrame );

	}


	function setupEventHandlers(){

	window.addEventListener( 'resize', onWindowResize, false );
	window.addEventListener( 'mousedown', onMouseDown, false );

	}


	function onWindowResize() {

	camera.aspect = window.innerWidth / window.innerHeight;
	camera.updateProjectionMatrix();

	renderer.setSize( window.innerWidth, window.innerHeight );

	}


	function onMouseDown ( event ) {

	if( ballInWorld ) return;

	mouseCoords.set( ( event.clientX / window.innerWidth ) * 2 - 1, - ( event.clientY / window.innerHeight ) * 2 + 1 );

	raycaster.setFromCamera( mouseCoords, camera );

	// Create a ball
	pos.copy( raycaster.ray.direction );
	pos.add( raycaster.ray.origin );

	ball = createBall(pos);

	//shoot out the ball
	let ballBody = ball.userData.physicsBody;

	pos.copy( raycaster.ray.direction );
	pos.multiplyScalar( 70 );
	ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );

	ballInWorld = true;

	}


	function createWall(){

	let pos = {x: 0, y: 25, z: -15};
	let scale = {x: 50, y: 50, z: 2};
	let quat = {x: 0, y: 0, z: 0, w: 1};
	let mass = 0;

	//threeJS Section
	wall = new THREE.Mesh(new THREE.BoxBufferGeometry(), new THREE.MeshPhongMaterial({color: 0x42f5bf}));

	wall.position.set(pos.x, pos.y, pos.z);
	wall.scale.set(scale.x, scale.y, scale.z);

	wall.castShadow = true;
	wall.receiveShadow = true;

	scene.add(wall);


	//Ammojs Section
	let transform = new Ammo.btTransform();
	transform.setIdentity();
	transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
	transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
	let motionState = new Ammo.btDefaultMotionState( transform );

	let colShape = new Ammo.btBoxShape( new Ammo.btVector3( scale.x * 0.5, scale.y * 0.5, scale.z * 0.5 ) );
	colShape.setMargin( 0.05 );

	let localInertia = new Ammo.btVector3( 0, 0, 0 );
	colShape.calculateLocalInertia( mass, localInertia );

	let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
	let body = new Ammo.btRigidBody( rbInfo );

	body.setFriction(4);
	body.setRollingFriction(10);

	physicsWorld.addRigidBody( body );

	//Let's overlay the wall with a grid for visual calibration
	const gridHelper = new THREE.GridHelper( 50, 50, 0x1111aa, 0xaa1111 );

	scene.add( gridHelper );

	gridHelper.rotateX( THREE.Math.degToRad(90));
	gridHelper.position.y = 25;
	gridHelper.position.z = -14;

	wall.userData.tag = "wall";

	body.threeObject = wall;
	}


	function createBall(pos){

	let radius = 0.8;
	let quat = {x: 0, y: 0, z: 0, w: 1};
	let mass = 35;

	//threeJS Section
	let ball = ballObject = new THREE.Mesh(new THREE.SphereBufferGeometry(radius), new THREE.MeshPhongMaterial({color: 0x05ff1e}));

	ball.position.set(pos.x, pos.y, pos.z);

	ball.castShadow = true;
	ball.receiveShadow = true;

	scene.add(ball);


	//Ammojs Section
	let transform = new Ammo.btTransform();
	transform.setIdentity();
	transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
	transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
	let motionState = new Ammo.btDefaultMotionState( transform );

	let colShape = new Ammo.btSphereShape( radius );
	colShape.setMargin( 0.05 );

	let localInertia = new Ammo.btVector3( 0, 0, 0 );
	colShape.calculateLocalInertia( mass, localInertia );

	let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
	let body = new Ammo.btRigidBody( rbInfo );

	body.setFriction(4);
	body.setRollingFriction(10);

	body.setActivationState( STATE.DISABLE_DEACTIVATION )


	physicsWorld.addRigidBody( body );
	rigidBodies.push(ball);

	ball.userData.physicsBody = body;
	ball.userData.tag = "ball";

	body.threeObject = ball;

	return ball;
	}


	function updatePhysics( deltaTime ){

	// Step world
	physicsWorld.stepSimulation( deltaTime, 10 );

	// Update rigid bodies
	for ( let i = 0; i < rigidBodies.length; i++ ) {
	let objThree = rigidBodies[ i ];
	let objAmmo = objThree.userData.physicsBody;
	let ms = objAmmo.getMotionState();
	if ( ms ) {

	ms.getWorldTransform( tmpTrans );
	let p = tmpTrans.getOrigin();
	let q = tmpTrans.getRotation();
	objThree.position.set( p.x(), p.y(), p.z() );
	objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );

	}
	}

	detectCollision();

	}

	function detectCollision(){

	let dispatcher = physicsWorld.getDispatcher();
	let numManifolds = dispatcher.getNumManifolds();

	for ( let i = 0; i < numManifolds; i ++ ) {

	let contactManifold = dispatcher.getManifoldByIndexInternal( i );

	let rb0 = Ammo.castObject( contactManifold.getBody0(), Ammo.btRigidBody );
	let rb1 = Ammo.castObject( contactManifold.getBody1(), Ammo.btRigidBody );
	let threeObject0 = rb0.threeObject;
	let threeObject1 = rb1.threeObject;
	if ( ! threeObject0 && ! threeObject1 ) continue;
	let userData0 = threeObject0 ? threeObject0.userData : null;
	let userData1 = threeObject1 ? threeObject1.userData : null;
	let tag0 = userData0 ? userData0.tag : "none";
	let tag1 = userData1 ? userData1.tag : "none";

	let numContacts = contactManifold.getNumContacts();

	for ( let j = 0; j < numContacts; j++ ) {

	let contactPoint = contactManifold.getContactPoint( j );
	let distance = contactPoint.getDistance();

	if( distance > 0.0 ) continue;

	let velocity0 = rb0.getLinearVelocity();
	let velocity1 = rb1.getLinearVelocity();
	let worldPos0 = contactPoint.get_m_positionWorldOnA();
	let worldPos1 = contactPoint.get_m_positionWorldOnB();
	let localPos0 = contactPoint.get_m_localPointA();
	let localPos1 = contactPoint.get_m_localPointB();

	console.log({
	manifoldIndex: i,
	contactIndex: j,
	distance: distance,
	object0:{
	tag: tag0,
	velocity: {x: velocity0.x(), y: velocity0.y(), z: velocity0.z()},
	worldPos: {x: worldPos0.x(), y: worldPos0.y(), z: worldPos0.z()},
	localPos: {x: localPos0.x(), y: localPos0.y(), z: localPos0.z()}
	},
	object1:{
	tag: tag1,
	velocity: {x: velocity1.x(), y: velocity1.y(), z: velocity1.z()},
	worldPos: {x: worldPos1.x(), y: worldPos1.y(), z: worldPos1.z()},
	localPos: {x: localPos1.x(), y: localPos1.y(), z: localPos1.z()}
	}
	});


	}

	}

	}


	</script>
	</body>
	</html>