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BlueMagnificent/contact_pair_test.html

Last active November 27, 2024 06:16
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Javascript 3D Physics Tut 3 Contact Pair Test
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contact_pair_test.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 ball, moveDirection = { left: 0, right: 0, forward: 0, back: 0, up: 0, down: 0 };
const STATE = { DISABLE_DEACTIVATION : 4 };
let cbContactResult;
let redTile, cbContactPairResult;
//Ammojs Initialization
Ammo().then(start)
function start (){
tmpTrans = new Ammo.btTransform();
setupPhysicsWorld();
setupGraphics();
createFloorTiles();
createBall();
setupContactResultCallback();
setupContactPairResultCallback();
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, -10, 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, 80, 40 );
camera.lookAt(new THREE.Vector3(0, 0, 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();
moveBall();
updatePhysics( deltaTime );
renderer.render( scene, camera );
requestAnimationFrame( renderFrame );
}
function setupEventHandlers(){
window.addEventListener( 'resize', onWindowResize, false );
window.addEventListener( 'keydown', handleKeyDown, false);
window.addEventListener( 'keyup', handleKeyUp, false);
}
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight;
camera.updateProjectionMatrix();
renderer.setSize( window.innerWidth, window.innerHeight );
}
function handleKeyDown(event){
let keyCode = event.keyCode;
switch(keyCode){
case 87: //W: FORWARD
moveDirection.forward = 1;
break;
case 83: //S: BACK
moveDirection.back = 1;
break;
case 65: //A: LEFT
moveDirection.left = 1;
break;
case 68: //D: RIGHT
moveDirection.right = 1;
break;
case 84://T
checkContact();
break;
case 74://J
jump();
break;
}
}
function handleKeyUp(event){
let keyCode = event.keyCode;
switch(keyCode){
case 87: //W: FORWARD
moveDirection.forward = 0;
break;
case 83: //S: BACK
moveDirection.back = 0;
break;
case 65: //A: LEFT
moveDirection.left = 0;
break;
case 68: //D: RIGHT
moveDirection.right = 0;
break;
}
}
function createFloorTiles(){
let tiles = [
{ name: "yellow", color: 0xFFFF00, pos: {x: -20, y: 0, z: 20} },
{ name: "red", color: 0xFF0000, pos: {x: 20, y: 0, z: 20} },
{ name: "green", color: 0x008000, pos: {x: 20, y: 0, z: -20} },
{ name: "blue", color: 0x0000FF, pos: {x: -20, y: 0, z: -20} }
]
let scale = {x: 40, y: 6, z: 40};
let quat = {x: 0, y: 0, z: 0, w: 1};
let mass = 0;
for (const tile of tiles) {
//threeJS Section
let pos = tile.pos;
let mesh = new THREE.Mesh(new THREE.BoxBufferGeometry(), new THREE.MeshPhongMaterial({color: tile.color}));
mesh.position.set(pos.x, pos.y, pos.z);
mesh.scale.set(scale.x, scale.y, scale.z);
mesh.castShadow = true;
mesh.receiveShadow = true;
mesh.userData.tag = tile.name;
scene.add(mesh);
//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 );
body.threeObject = mesh;
if( tile.name == "red"){
mesh.userData.physicsBody = body;
redTile = mesh;
}
}
}
function createBall(){
let pos = {x: 0, y: 10, z: 0};
let radius = 1.5;
let quat = {x: 0, y: 0, z: 0, w: 1};
let mass = 1;
//threeJS Section
ball = ballObject = new THREE.Mesh(new THREE.SphereBufferGeometry(radius), new THREE.MeshPhongMaterial({color: 0x800080}));
ball.position.set(pos.x, pos.y, pos.z);
ball.castShadow = true;
ball.receiveShadow = true;
ball.userData.tag = "ball";
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;
body.threeObject = ball;
}
function setupContactResultCallback(){
cbContactResult = new Ammo.ConcreteContactResultCallback();
cbContactResult.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1){
let contactPoint = Ammo.wrapPointer( cp, Ammo.btManifoldPoint );
const distance = contactPoint.getDistance();
if( distance > 0 ) return;
let colWrapper0 = Ammo.wrapPointer( colObj0Wrap, Ammo.btCollisionObjectWrapper );
let rb0 = Ammo.castObject( colWrapper0.getCollisionObject(), Ammo.btRigidBody );
let colWrapper1 = Ammo.wrapPointer( colObj1Wrap, Ammo.btCollisionObjectWrapper );
let rb1 = Ammo.castObject( colWrapper1.getCollisionObject(), Ammo.btRigidBody );
let threeObject0 = rb0.threeObject;
let threeObject1 = rb1.threeObject;
let tag, localPos, worldPos
if( threeObject0.userData.tag != "ball" ){
tag = threeObject0.userData.tag;
localPos = contactPoint.get_m_localPointA();
worldPos = contactPoint.get_m_positionWorldOnA();
}
else{
tag = threeObject1.userData.tag;
localPos = contactPoint.get_m_localPointB();
worldPos = contactPoint.get_m_positionWorldOnB();
}
let localPosDisplay = {x: localPos.x(), y: localPos.y(), z: localPos.z()};
let worldPosDisplay = {x: worldPos.x(), y: worldPos.y(), z: worldPos.z()};
console.log( { tag, localPosDisplay, worldPosDisplay } );
}
}
function setupContactPairResultCallback(){
cbContactPairResult = new Ammo.ConcreteContactResultCallback();
cbContactPairResult.hasContact = false;
cbContactPairResult.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1){
let contactPoint = Ammo.wrapPointer( cp, Ammo.btManifoldPoint );
const distance = contactPoint.getDistance();
if( distance > 0 ) return;
this.hasContact = true;
}
}
function moveBall(){
let scalingFactor = 20;
let moveX = moveDirection.right - moveDirection.left;
let moveZ = moveDirection.back - moveDirection.forward;
if( moveX == 0 && moveZ == 0) return;
let resultantImpulse = new Ammo.btVector3( moveX, 0, moveZ )
resultantImpulse.op_mul(scalingFactor);
let physicsBody = ball.userData.physicsBody;
physicsBody.setLinearVelocity( resultantImpulse );
}
function checkContact(){
physicsWorld.contactTest( ball.userData.physicsBody , cbContactResult );
}
function jump(){
cbContactPairResult.hasContact = false;
physicsWorld.contactPairTest(ball.userData.physicsBody, redTile.userData.physicsBody, cbContactPairResult);
if( !cbContactPairResult.hasContact ) return;
let jumpImpulse = new Ammo.btVector3( 0, 15, 0 );
let physicsBody = ball.userData.physicsBody;
physicsBody.setLinearVelocity( jumpImpulse );
}
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() );
}
}
}
</script>
</body>
</html>
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