mirror of
https://github.com/tengge1/ShadowEditor.git
synced 2026-01-25 15:08:11 +00:00
1218 lines
26 KiB
JavaScript
1218 lines
26 KiB
JavaScript
/**
|
|
* @author takahiro / https://github.com/takahirox
|
|
*
|
|
* Dependencies
|
|
* - Ammo.js https://github.com/kripken/ammo.js
|
|
*
|
|
* MMD specific Physics class.
|
|
*
|
|
* See THREE.MMDLoader for the passed parameter list of RigidBody/Constraint.
|
|
*
|
|
* Requirement:
|
|
* - don't change object's scale from (1,1,1) after setting physics to object
|
|
*
|
|
* TODO
|
|
* - optimize for the performance
|
|
* - use Physijs http://chandlerprall.github.io/Physijs/
|
|
* and improve the performance by making use of Web worker.
|
|
* - if possible, make this class being non-MMD specific.
|
|
* - object scale change support
|
|
*/
|
|
|
|
THREE.MMDPhysics = function ( mesh, params ) {
|
|
|
|
if ( params === undefined ) params = {};
|
|
|
|
this.mesh = mesh;
|
|
this.helper = new THREE.MMDPhysics.ResourceHelper();
|
|
|
|
/*
|
|
* I don't know why but 1/60 unitStep easily breaks models
|
|
* so I set it 1/65 so far.
|
|
* Don't set too small unitStep because
|
|
* the smaller unitStep can make the performance worse.
|
|
*/
|
|
this.unitStep = ( params.unitStep !== undefined ) ? params.unitStep : 1 / 65;
|
|
this.maxStepNum = ( params.maxStepNum !== undefined ) ? params.maxStepNum : 3;
|
|
|
|
this.world = params.world !== undefined ? params.world : null;
|
|
this.bodies = [];
|
|
this.constraints = [];
|
|
|
|
this.init( mesh );
|
|
|
|
};
|
|
|
|
THREE.MMDPhysics.prototype = {
|
|
|
|
constructor: THREE.MMDPhysics,
|
|
|
|
init: function ( mesh ) {
|
|
|
|
var parent = mesh.parent;
|
|
|
|
if ( parent !== null ) {
|
|
|
|
parent.remove( mesh );
|
|
|
|
}
|
|
|
|
var helper = this.helper;
|
|
var currentPosition = helper.allocThreeVector3();
|
|
var currentRotation = helper.allocThreeEuler();
|
|
var currentScale = helper.allocThreeVector3();
|
|
|
|
currentPosition.copy( mesh.position );
|
|
currentRotation.copy( mesh.rotation );
|
|
currentScale.copy( mesh.scale );
|
|
|
|
mesh.position.set( 0, 0, 0 );
|
|
mesh.rotation.set( 0, 0, 0 );
|
|
mesh.scale.set( 1, 1, 1 );
|
|
|
|
mesh.updateMatrixWorld( true );
|
|
|
|
if ( this.world === null ) this.initWorld();
|
|
this.initRigidBodies();
|
|
this.initConstraints();
|
|
|
|
if ( parent !== null ) {
|
|
|
|
parent.add( mesh );
|
|
|
|
}
|
|
|
|
mesh.position.copy( currentPosition );
|
|
mesh.rotation.copy( currentRotation );
|
|
mesh.scale.copy( currentScale );
|
|
|
|
mesh.updateMatrixWorld( true );
|
|
|
|
this.reset();
|
|
|
|
helper.freeThreeVector3( currentPosition );
|
|
helper.freeThreeEuler( currentRotation );
|
|
helper.freeThreeVector3( currentScale );
|
|
|
|
},
|
|
|
|
initWorld: function () {
|
|
|
|
var config = new Ammo.btDefaultCollisionConfiguration();
|
|
var dispatcher = new Ammo.btCollisionDispatcher( config );
|
|
var cache = new Ammo.btDbvtBroadphase();
|
|
var solver = new Ammo.btSequentialImpulseConstraintSolver();
|
|
var world = new Ammo.btDiscreteDynamicsWorld( dispatcher, cache, solver, config );
|
|
world.setGravity( new Ammo.btVector3( 0, -9.8 * 10, 0 ) );
|
|
this.world = world;
|
|
|
|
},
|
|
|
|
initRigidBodies: function () {
|
|
|
|
var bodies = this.mesh.geometry.rigidBodies;
|
|
|
|
for ( var i = 0; i < bodies.length; i++ ) {
|
|
|
|
var b = new THREE.MMDPhysics.RigidBody( this.mesh, this.world, bodies[ i ], this.helper );
|
|
this.bodies.push( b );
|
|
|
|
}
|
|
|
|
},
|
|
|
|
initConstraints: function () {
|
|
|
|
var constraints = this.mesh.geometry.constraints;
|
|
|
|
for ( var i = 0; i < constraints.length; i++ ) {
|
|
|
|
var params = constraints[ i ];
|
|
var bodyA = this.bodies[ params.rigidBodyIndex1 ];
|
|
var bodyB = this.bodies[ params.rigidBodyIndex2 ];
|
|
var c = new THREE.MMDPhysics.Constraint( this.mesh, this.world, bodyA, bodyB, params, this.helper );
|
|
this.constraints.push( c );
|
|
|
|
}
|
|
|
|
|
|
},
|
|
|
|
update: function ( delta ) {
|
|
|
|
this.updateRigidBodies();
|
|
this.stepSimulation( delta );
|
|
this.updateBones();
|
|
|
|
},
|
|
|
|
stepSimulation: function ( delta ) {
|
|
|
|
var unitStep = this.unitStep;
|
|
var stepTime = delta;
|
|
var maxStepNum = ( ( delta / unitStep ) | 0 ) + 1;
|
|
|
|
if ( stepTime < unitStep ) {
|
|
|
|
stepTime = unitStep;
|
|
maxStepNum = 1;
|
|
|
|
}
|
|
|
|
if ( maxStepNum > this.maxStepNum ) {
|
|
|
|
maxStepNum = this.maxStepNum;
|
|
|
|
}
|
|
|
|
this.world.stepSimulation( stepTime, maxStepNum, unitStep );
|
|
|
|
},
|
|
|
|
updateRigidBodies: function () {
|
|
|
|
for ( var i = 0; i < this.bodies.length; i++ ) {
|
|
|
|
this.bodies[ i ].updateFromBone();
|
|
|
|
}
|
|
|
|
},
|
|
|
|
updateBones: function () {
|
|
|
|
for ( var i = 0; i < this.bodies.length; i++ ) {
|
|
|
|
this.bodies[ i ].updateBone();
|
|
|
|
}
|
|
|
|
},
|
|
|
|
reset: function () {
|
|
|
|
for ( var i = 0; i < this.bodies.length; i++ ) {
|
|
|
|
this.bodies[ i ].reset();
|
|
|
|
}
|
|
|
|
},
|
|
|
|
warmup: function ( cycles ) {
|
|
|
|
for ( var i = 0; i < cycles; i++ ) {
|
|
|
|
this.update( 1 / 60 );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
};
|
|
|
|
/**
|
|
* This helper class responsibilies are
|
|
*
|
|
* 1. manage Ammo.js and Three.js object resources and
|
|
* improve the performance and the memory consumption by
|
|
* reusing objects.
|
|
*
|
|
* 2. provide simple Ammo object operations.
|
|
*/
|
|
THREE.MMDPhysics.ResourceHelper = function () {
|
|
|
|
// for Three.js
|
|
this.threeVector3s = [];
|
|
this.threeMatrix4s = [];
|
|
this.threeQuaternions = [];
|
|
this.threeEulers = [];
|
|
|
|
// for Ammo.js
|
|
this.transforms = [];
|
|
this.quaternions = [];
|
|
this.vector3s = [];
|
|
|
|
};
|
|
|
|
THREE.MMDPhysics.ResourceHelper.prototype = {
|
|
|
|
allocThreeVector3: function () {
|
|
|
|
return ( this.threeVector3s.length > 0 ) ? this.threeVector3s.pop() : new THREE.Vector3();
|
|
|
|
},
|
|
|
|
freeThreeVector3: function ( v ) {
|
|
|
|
this.threeVector3s.push( v );
|
|
|
|
},
|
|
|
|
allocThreeMatrix4: function () {
|
|
|
|
return ( this.threeMatrix4s.length > 0 ) ? this.threeMatrix4s.pop() : new THREE.Matrix4();
|
|
|
|
},
|
|
|
|
freeThreeMatrix4: function ( m ) {
|
|
|
|
this.threeMatrix4s.push( m );
|
|
|
|
},
|
|
|
|
allocThreeQuaternion: function () {
|
|
|
|
return ( this.threeQuaternions.length > 0 ) ? this.threeQuaternions.pop() : new THREE.Quaternion();
|
|
|
|
},
|
|
|
|
freeThreeQuaternion: function ( q ) {
|
|
|
|
this.threeQuaternions.push( q );
|
|
|
|
},
|
|
|
|
allocThreeEuler: function () {
|
|
|
|
return ( this.threeEulers.length > 0 ) ? this.threeEulers.pop() : new THREE.Euler();
|
|
|
|
},
|
|
|
|
freeThreeEuler: function ( e ) {
|
|
|
|
this.threeEulers.push( e );
|
|
|
|
},
|
|
|
|
allocTransform: function () {
|
|
|
|
return ( this.transforms.length > 0 ) ? this.transforms.pop() : new Ammo.btTransform();
|
|
|
|
},
|
|
|
|
freeTransform: function ( t ) {
|
|
|
|
this.transforms.push( t );
|
|
|
|
},
|
|
|
|
allocQuaternion: function () {
|
|
|
|
return ( this.quaternions.length > 0 ) ? this.quaternions.pop() : new Ammo.btQuaternion();
|
|
|
|
},
|
|
|
|
freeQuaternion: function ( q ) {
|
|
|
|
this.quaternions.push( q );
|
|
|
|
},
|
|
|
|
allocVector3: function () {
|
|
|
|
return ( this.vector3s.length > 0 ) ? this.vector3s.pop() : new Ammo.btVector3();
|
|
|
|
},
|
|
|
|
freeVector3: function ( v ) {
|
|
|
|
this.vector3s.push( v );
|
|
|
|
},
|
|
|
|
setIdentity: function ( t ) {
|
|
|
|
t.setIdentity();
|
|
|
|
},
|
|
|
|
getBasis: function ( t ) {
|
|
|
|
var q = this.allocQuaternion();
|
|
t.getBasis().getRotation( q );
|
|
return q;
|
|
|
|
},
|
|
|
|
getBasisAsMatrix3: function ( t ) {
|
|
|
|
var q = this.getBasis( t );
|
|
var m = this.quaternionToMatrix3( q );
|
|
this.freeQuaternion( q );
|
|
return m;
|
|
|
|
},
|
|
|
|
getOrigin: function( t ) {
|
|
|
|
return t.getOrigin();
|
|
|
|
},
|
|
|
|
setOrigin: function( t, v ) {
|
|
|
|
t.getOrigin().setValue( v.x(), v.y(), v.z() );
|
|
|
|
},
|
|
|
|
copyOrigin: function( t1, t2 ) {
|
|
|
|
var o = t2.getOrigin();
|
|
this.setOrigin( t1, o );
|
|
|
|
},
|
|
|
|
setBasis: function( t, q ) {
|
|
|
|
t.setRotation( q );
|
|
|
|
},
|
|
|
|
setBasisFromMatrix3: function( t, m ) {
|
|
|
|
var q = this.matrix3ToQuaternion( m );
|
|
this.setBasis( t, q );
|
|
this.freeQuaternion( q );
|
|
|
|
},
|
|
|
|
setOriginFromArray3: function ( t, a ) {
|
|
|
|
t.getOrigin().setValue( a[ 0 ], a[ 1 ], a[ 2 ] );
|
|
|
|
},
|
|
|
|
setOriginFromThreeVector3: function ( t, v ) {
|
|
|
|
t.getOrigin().setValue( v.x, v.y, v.z );
|
|
|
|
},
|
|
|
|
setBasisFromArray3: function ( t, a ) {
|
|
|
|
var thQ = this.allocThreeQuaternion();
|
|
var thE = this.allocThreeEuler();
|
|
thE.set( a[ 0 ], a[ 1 ], a[ 2 ] );
|
|
this.setBasisFromThreeQuaternion( t, thQ.setFromEuler( thE ) );
|
|
|
|
this.freeThreeEuler( thE );
|
|
this.freeThreeQuaternion( thQ );
|
|
|
|
},
|
|
|
|
setBasisFromThreeQuaternion: function ( t, a ) {
|
|
|
|
var q = this.allocQuaternion();
|
|
|
|
q.setX( a.x );
|
|
q.setY( a.y );
|
|
q.setZ( a.z );
|
|
q.setW( a.w );
|
|
this.setBasis( t, q );
|
|
|
|
this.freeQuaternion( q );
|
|
|
|
},
|
|
|
|
multiplyTransforms: function ( t1, t2 ) {
|
|
|
|
var t = this.allocTransform();
|
|
this.setIdentity( t );
|
|
|
|
var m1 = this.getBasisAsMatrix3( t1 );
|
|
var m2 = this.getBasisAsMatrix3( t2 );
|
|
|
|
var o1 = this.getOrigin( t1 );
|
|
var o2 = this.getOrigin( t2 );
|
|
|
|
var v1 = this.multiplyMatrix3ByVector3( m1, o2 );
|
|
var v2 = this.addVector3( v1, o1 );
|
|
this.setOrigin( t, v2 );
|
|
|
|
var m3 = this.multiplyMatrices3( m1, m2 );
|
|
this.setBasisFromMatrix3( t, m3 );
|
|
|
|
this.freeVector3( v1 );
|
|
this.freeVector3( v2 );
|
|
|
|
return t;
|
|
|
|
},
|
|
|
|
inverseTransform: function ( t ) {
|
|
|
|
var t2 = this.allocTransform();
|
|
|
|
var m1 = this.getBasisAsMatrix3( t );
|
|
var o = this.getOrigin( t );
|
|
|
|
var m2 = this.transposeMatrix3( m1 );
|
|
var v1 = this.negativeVector3( o );
|
|
var v2 = this.multiplyMatrix3ByVector3( m2, v1 );
|
|
|
|
this.setOrigin( t2, v2 );
|
|
this.setBasisFromMatrix3( t2, m2 );
|
|
|
|
this.freeVector3( v1 );
|
|
this.freeVector3( v2 );
|
|
|
|
return t2;
|
|
|
|
},
|
|
|
|
multiplyMatrices3: function ( m1, m2 ) {
|
|
|
|
var m3 = [];
|
|
|
|
var v10 = this.rowOfMatrix3( m1, 0 );
|
|
var v11 = this.rowOfMatrix3( m1, 1 );
|
|
var v12 = this.rowOfMatrix3( m1, 2 );
|
|
|
|
var v20 = this.columnOfMatrix3( m2, 0 );
|
|
var v21 = this.columnOfMatrix3( m2, 1 );
|
|
var v22 = this.columnOfMatrix3( m2, 2 );
|
|
|
|
m3[ 0 ] = this.dotVectors3( v10, v20 );
|
|
m3[ 1 ] = this.dotVectors3( v10, v21 );
|
|
m3[ 2 ] = this.dotVectors3( v10, v22 );
|
|
m3[ 3 ] = this.dotVectors3( v11, v20 );
|
|
m3[ 4 ] = this.dotVectors3( v11, v21 );
|
|
m3[ 5 ] = this.dotVectors3( v11, v22 );
|
|
m3[ 6 ] = this.dotVectors3( v12, v20 );
|
|
m3[ 7 ] = this.dotVectors3( v12, v21 );
|
|
m3[ 8 ] = this.dotVectors3( v12, v22 );
|
|
|
|
this.freeVector3( v10 );
|
|
this.freeVector3( v11 );
|
|
this.freeVector3( v12 );
|
|
this.freeVector3( v20 );
|
|
this.freeVector3( v21 );
|
|
this.freeVector3( v22 );
|
|
|
|
return m3;
|
|
|
|
},
|
|
|
|
addVector3: function( v1, v2 ) {
|
|
|
|
var v = this.allocVector3();
|
|
v.setValue( v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z() );
|
|
return v;
|
|
|
|
},
|
|
|
|
dotVectors3: function( v1, v2 ) {
|
|
|
|
return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
|
|
|
|
},
|
|
|
|
rowOfMatrix3: function( m, i ) {
|
|
|
|
var v = this.allocVector3();
|
|
v.setValue( m[ i * 3 + 0 ], m[ i * 3 + 1 ], m[ i * 3 + 2 ] );
|
|
return v;
|
|
|
|
},
|
|
|
|
columnOfMatrix3: function( m, i ) {
|
|
|
|
var v = this.allocVector3();
|
|
v.setValue( m[ i + 0 ], m[ i + 3 ], m[ i + 6 ] );
|
|
return v;
|
|
|
|
},
|
|
|
|
negativeVector3: function( v ) {
|
|
|
|
var v2 = this.allocVector3();
|
|
v2.setValue( -v.x(), -v.y(), -v.z() );
|
|
return v2;
|
|
|
|
},
|
|
|
|
multiplyMatrix3ByVector3: function ( m, v ) {
|
|
|
|
var v4 = this.allocVector3();
|
|
|
|
var v0 = this.rowOfMatrix3( m, 0 );
|
|
var v1 = this.rowOfMatrix3( m, 1 );
|
|
var v2 = this.rowOfMatrix3( m, 2 );
|
|
var x = this.dotVectors3( v0, v );
|
|
var y = this.dotVectors3( v1, v );
|
|
var z = this.dotVectors3( v2, v );
|
|
|
|
v4.setValue( x, y, z );
|
|
|
|
this.freeVector3( v0 );
|
|
this.freeVector3( v1 );
|
|
this.freeVector3( v2 );
|
|
|
|
return v4;
|
|
|
|
},
|
|
|
|
transposeMatrix3: function( m ) {
|
|
|
|
var m2 = [];
|
|
m2[ 0 ] = m[ 0 ];
|
|
m2[ 1 ] = m[ 3 ];
|
|
m2[ 2 ] = m[ 6 ];
|
|
m2[ 3 ] = m[ 1 ];
|
|
m2[ 4 ] = m[ 4 ];
|
|
m2[ 5 ] = m[ 7 ];
|
|
m2[ 6 ] = m[ 2 ];
|
|
m2[ 7 ] = m[ 5 ];
|
|
m2[ 8 ] = m[ 8 ];
|
|
return m2;
|
|
|
|
},
|
|
|
|
quaternionToMatrix3: function ( q ) {
|
|
|
|
var m = [];
|
|
|
|
var x = q.x();
|
|
var y = q.y();
|
|
var z = q.z();
|
|
var w = q.w();
|
|
|
|
var xx = x * x;
|
|
var yy = y * y;
|
|
var zz = z * z;
|
|
|
|
var xy = x * y;
|
|
var yz = y * z;
|
|
var zx = z * x;
|
|
|
|
var xw = x * w;
|
|
var yw = y * w;
|
|
var zw = z * w;
|
|
|
|
m[ 0 ] = 1 - 2 * ( yy + zz );
|
|
m[ 1 ] = 2 * ( xy - zw );
|
|
m[ 2 ] = 2 * ( zx + yw );
|
|
m[ 3 ] = 2 * ( xy + zw );
|
|
m[ 4 ] = 1 - 2 * ( zz + xx );
|
|
m[ 5 ] = 2 * ( yz - xw );
|
|
m[ 6 ] = 2 * ( zx - yw );
|
|
m[ 7 ] = 2 * ( yz + xw );
|
|
m[ 8 ] = 1 - 2 * ( xx + yy );
|
|
|
|
return m;
|
|
|
|
},
|
|
|
|
matrix3ToQuaternion: function( m ) {
|
|
|
|
var t = m[ 0 ] + m[ 4 ] + m[ 8 ];
|
|
var s, x, y, z, w;
|
|
|
|
if( t > 0 ) {
|
|
|
|
s = Math.sqrt( t + 1.0 ) * 2;
|
|
w = 0.25 * s;
|
|
x = ( m[ 7 ] - m[ 5 ] ) / s;
|
|
y = ( m[ 2 ] - m[ 6 ] ) / s;
|
|
z = ( m[ 3 ] - m[ 1 ] ) / s;
|
|
|
|
} else if( ( m[ 0 ] > m[ 4 ] ) && ( m[ 0 ] > m[ 8 ] ) ) {
|
|
|
|
s = Math.sqrt( 1.0 + m[ 0 ] - m[ 4 ] - m[ 8 ] ) * 2;
|
|
w = ( m[ 7 ] - m[ 5 ] ) / s;
|
|
x = 0.25 * s;
|
|
y = ( m[ 1 ] + m[ 3 ] ) / s;
|
|
z = ( m[ 2 ] + m[ 6 ] ) / s;
|
|
|
|
} else if( m[ 4 ] > m[ 8 ] ) {
|
|
|
|
s = Math.sqrt( 1.0 + m[ 4 ] - m[ 0 ] - m[ 8 ] ) * 2;
|
|
w = ( m[ 2 ] - m[ 6 ] ) / s;
|
|
x = ( m[ 1 ] + m[ 3 ] ) / s;
|
|
y = 0.25 * s;
|
|
z = ( m[ 5 ] + m[ 7 ] ) / s;
|
|
|
|
} else {
|
|
|
|
s = Math.sqrt( 1.0 + m[ 8 ] - m[ 0 ] - m[ 4 ] ) * 2;
|
|
w = ( m[ 3 ] - m[ 1 ] ) / s;
|
|
x = ( m[ 2 ] + m[ 6 ] ) / s;
|
|
y = ( m[ 5 ] + m[ 7 ] ) / s;
|
|
z = 0.25 * s;
|
|
|
|
}
|
|
|
|
var q = this.allocQuaternion();
|
|
q.setX( x );
|
|
q.setY( y );
|
|
q.setZ( z );
|
|
q.setW( w );
|
|
return q;
|
|
|
|
}
|
|
|
|
};
|
|
|
|
THREE.MMDPhysics.RigidBody = function ( mesh, world, params, helper ) {
|
|
|
|
this.mesh = mesh;
|
|
this.world = world;
|
|
this.params = params;
|
|
this.helper = helper;
|
|
|
|
this.body = null;
|
|
this.bone = null;
|
|
this.boneOffsetForm = null;
|
|
this.boneOffsetFormInverse = null;
|
|
|
|
this.init();
|
|
|
|
};
|
|
|
|
THREE.MMDPhysics.RigidBody.prototype = {
|
|
|
|
constructor: THREE.MMDPhysics.RigidBody,
|
|
|
|
init: function () {
|
|
|
|
function generateShape( p ) {
|
|
|
|
switch( p.shapeType ) {
|
|
|
|
case 0:
|
|
return new Ammo.btSphereShape( p.width );
|
|
|
|
case 1:
|
|
return new Ammo.btBoxShape( new Ammo.btVector3( p.width, p.height, p.depth ) );
|
|
|
|
case 2:
|
|
return new Ammo.btCapsuleShape( p.width, p.height );
|
|
|
|
default:
|
|
throw 'unknown shape type ' + p.shapeType;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
var helper = this.helper;
|
|
var params = this.params;
|
|
var bones = this.mesh.skeleton.bones;
|
|
var bone = ( params.boneIndex === -1 ) ? new THREE.Bone() : bones[ params.boneIndex ];
|
|
|
|
var shape = generateShape( params );
|
|
var weight = ( params.type === 0 ) ? 0 : params.weight;
|
|
var localInertia = helper.allocVector3();
|
|
localInertia.setValue( 0, 0, 0 );
|
|
|
|
if( weight !== 0 ) {
|
|
|
|
shape.calculateLocalInertia( weight, localInertia );
|
|
|
|
}
|
|
|
|
var boneOffsetForm = helper.allocTransform();
|
|
helper.setIdentity( boneOffsetForm );
|
|
helper.setOriginFromArray3( boneOffsetForm, params.position );
|
|
helper.setBasisFromArray3( boneOffsetForm, params.rotation );
|
|
|
|
var vector = helper.allocThreeVector3();
|
|
var boneForm = helper.allocTransform();
|
|
helper.setIdentity( boneForm );
|
|
helper.setOriginFromThreeVector3( boneForm, bone.getWorldPosition( vector ) );
|
|
|
|
var form = helper.multiplyTransforms( boneForm, boneOffsetForm );
|
|
var state = new Ammo.btDefaultMotionState( form );
|
|
|
|
var info = new Ammo.btRigidBodyConstructionInfo( weight, state, shape, localInertia );
|
|
info.set_m_friction( params.friction );
|
|
info.set_m_restitution( params.restitution );
|
|
|
|
var body = new Ammo.btRigidBody( info );
|
|
|
|
if ( params.type === 0 ) {
|
|
|
|
body.setCollisionFlags( body.getCollisionFlags() | 2 );
|
|
|
|
/*
|
|
* It'd be better to comment out this line though in general I should call this method
|
|
* because I'm not sure why but physics will be more like MMD's
|
|
* if I comment out.
|
|
*/
|
|
body.setActivationState( 4 );
|
|
|
|
}
|
|
|
|
body.setDamping( params.positionDamping, params.rotationDamping );
|
|
body.setSleepingThresholds( 0, 0 );
|
|
|
|
this.world.addRigidBody( body, 1 << params.groupIndex, params.groupTarget );
|
|
|
|
this.body = body;
|
|
this.bone = bone;
|
|
this.boneOffsetForm = boneOffsetForm;
|
|
this.boneOffsetFormInverse = helper.inverseTransform( boneOffsetForm );
|
|
|
|
helper.freeVector3( localInertia );
|
|
helper.freeTransform( form );
|
|
helper.freeTransform( boneForm );
|
|
helper.freeThreeVector3( vector );
|
|
|
|
},
|
|
|
|
reset: function () {
|
|
|
|
this.setTransformFromBone();
|
|
|
|
},
|
|
|
|
updateFromBone: function () {
|
|
|
|
if ( this.params.boneIndex === -1 ) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
if ( this.params.type === 0 ) {
|
|
|
|
this.setTransformFromBone();
|
|
|
|
}
|
|
|
|
},
|
|
|
|
updateBone: function () {
|
|
|
|
if ( this.params.type === 0 || this.params.boneIndex === -1 ) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
this.updateBoneRotation();
|
|
|
|
if ( this.params.type === 1 ) {
|
|
|
|
this.updateBonePosition();
|
|
|
|
}
|
|
|
|
this.bone.updateMatrixWorld( true );
|
|
|
|
if ( this.params.type === 2 ) {
|
|
|
|
this.setPositionFromBone();
|
|
|
|
}
|
|
|
|
},
|
|
|
|
getBoneTransform: function () {
|
|
|
|
var helper = this.helper;
|
|
var p = helper.allocThreeVector3();
|
|
var q = helper.allocThreeQuaternion();
|
|
|
|
this.bone.getWorldPosition( p );
|
|
this.bone.getWorldQuaternion( q );
|
|
|
|
var tr = helper.allocTransform();
|
|
helper.setOriginFromThreeVector3( tr, p );
|
|
helper.setBasisFromThreeQuaternion( tr, q );
|
|
|
|
var form = helper.multiplyTransforms( tr, this.boneOffsetForm );
|
|
|
|
helper.freeTransform( tr );
|
|
helper.freeThreeQuaternion( q );
|
|
helper.freeThreeVector3( p );
|
|
|
|
return form;
|
|
|
|
},
|
|
|
|
getWorldTransformForBone: function () {
|
|
|
|
var helper = this.helper;
|
|
|
|
var tr = helper.allocTransform();
|
|
this.body.getMotionState().getWorldTransform( tr );
|
|
var tr2 = helper.multiplyTransforms( tr, this.boneOffsetFormInverse );
|
|
|
|
helper.freeTransform( tr );
|
|
|
|
return tr2;
|
|
|
|
},
|
|
|
|
setTransformFromBone: function () {
|
|
|
|
var helper = this.helper;
|
|
var form = this.getBoneTransform();
|
|
|
|
// TODO: check the most appropriate way to set
|
|
//this.body.setWorldTransform( form );
|
|
this.body.setCenterOfMassTransform( form );
|
|
this.body.getMotionState().setWorldTransform( form );
|
|
|
|
helper.freeTransform( form );
|
|
|
|
},
|
|
|
|
setPositionFromBone: function () {
|
|
|
|
var helper = this.helper;
|
|
var form = this.getBoneTransform();
|
|
|
|
var tr = helper.allocTransform();
|
|
this.body.getMotionState().getWorldTransform( tr );
|
|
helper.copyOrigin( tr, form );
|
|
|
|
// TODO: check the most appropriate way to set
|
|
//this.body.setWorldTransform( tr );
|
|
this.body.setCenterOfMassTransform( tr );
|
|
this.body.getMotionState().setWorldTransform( tr );
|
|
|
|
helper.freeTransform( tr );
|
|
helper.freeTransform( form );
|
|
|
|
},
|
|
|
|
updateBoneRotation: function () {
|
|
|
|
this.bone.updateMatrixWorld( true );
|
|
|
|
var helper = this.helper;
|
|
|
|
var tr = this.getWorldTransformForBone();
|
|
var q = helper.getBasis( tr );
|
|
|
|
var thQ = helper.allocThreeQuaternion();
|
|
var thQ2 = helper.allocThreeQuaternion();
|
|
var thQ3 = helper.allocThreeQuaternion();
|
|
|
|
thQ.set( q.x(), q.y(), q.z(), q.w() );
|
|
thQ2.setFromRotationMatrix( this.bone.matrixWorld );
|
|
thQ2.conjugate();
|
|
thQ2.multiply( thQ );
|
|
|
|
//this.bone.quaternion.multiply( thQ2 );
|
|
|
|
thQ3.setFromRotationMatrix( this.bone.matrix );
|
|
this.bone.quaternion.copy( thQ2.multiply( thQ3 ) );
|
|
|
|
helper.freeThreeQuaternion( thQ );
|
|
helper.freeThreeQuaternion( thQ2 );
|
|
helper.freeThreeQuaternion( thQ3 );
|
|
|
|
helper.freeQuaternion( q );
|
|
helper.freeTransform( tr );
|
|
|
|
},
|
|
|
|
updateBonePosition: function () {
|
|
|
|
var helper = this.helper;
|
|
|
|
var tr = this.getWorldTransformForBone();
|
|
|
|
var thV = helper.allocThreeVector3();
|
|
|
|
var o = helper.getOrigin( tr );
|
|
thV.set( o.x(), o.y(), o.z() );
|
|
|
|
var v = this.bone.worldToLocal( thV );
|
|
this.bone.position.add( v );
|
|
|
|
helper.freeThreeVector3( thV );
|
|
|
|
helper.freeTransform( tr );
|
|
|
|
}
|
|
|
|
};
|
|
|
|
THREE.MMDPhysics.Constraint = function ( mesh, world, bodyA, bodyB, params, helper ) {
|
|
|
|
this.mesh = mesh;
|
|
this.world = world;
|
|
this.bodyA = bodyA;
|
|
this.bodyB = bodyB;
|
|
this.params = params;
|
|
this.helper = helper;
|
|
|
|
this.constraint = null;
|
|
|
|
this.init();
|
|
|
|
};
|
|
|
|
THREE.MMDPhysics.Constraint.prototype = {
|
|
|
|
constructor: THREE.MMDPhysics.Constraint,
|
|
|
|
init: function () {
|
|
|
|
var helper = this.helper;
|
|
var params = this.params;
|
|
var bodyA = this.bodyA;
|
|
var bodyB = this.bodyB;
|
|
|
|
var form = helper.allocTransform();
|
|
helper.setIdentity( form );
|
|
helper.setOriginFromArray3( form, params.position );
|
|
helper.setBasisFromArray3( form, params.rotation );
|
|
|
|
var formA = helper.allocTransform();
|
|
var formB = helper.allocTransform();
|
|
|
|
bodyA.body.getMotionState().getWorldTransform( formA );
|
|
bodyB.body.getMotionState().getWorldTransform( formB );
|
|
|
|
var formInverseA = helper.inverseTransform( formA );
|
|
var formInverseB = helper.inverseTransform( formB );
|
|
|
|
var formA2 = helper.multiplyTransforms( formInverseA, form );
|
|
var formB2 = helper.multiplyTransforms( formInverseB, form );
|
|
|
|
var constraint = new Ammo.btGeneric6DofSpringConstraint( bodyA.body, bodyB.body, formA2, formB2, true );
|
|
|
|
var lll = helper.allocVector3();
|
|
var lul = helper.allocVector3();
|
|
var all = helper.allocVector3();
|
|
var aul = helper.allocVector3();
|
|
|
|
lll.setValue( params.translationLimitation1[ 0 ],
|
|
params.translationLimitation1[ 1 ],
|
|
params.translationLimitation1[ 2 ] );
|
|
lul.setValue( params.translationLimitation2[ 0 ],
|
|
params.translationLimitation2[ 1 ],
|
|
params.translationLimitation2[ 2 ] );
|
|
all.setValue( params.rotationLimitation1[ 0 ],
|
|
params.rotationLimitation1[ 1 ],
|
|
params.rotationLimitation1[ 2 ] );
|
|
aul.setValue( params.rotationLimitation2[ 0 ],
|
|
params.rotationLimitation2[ 1 ],
|
|
params.rotationLimitation2[ 2 ] );
|
|
|
|
constraint.setLinearLowerLimit( lll );
|
|
constraint.setLinearUpperLimit( lul );
|
|
constraint.setAngularLowerLimit( all );
|
|
constraint.setAngularUpperLimit( aul );
|
|
|
|
for ( var i = 0; i < 3; i++ ) {
|
|
|
|
if( params.springPosition[ i ] !== 0 ) {
|
|
|
|
constraint.enableSpring( i, true );
|
|
constraint.setStiffness( i, params.springPosition[ i ] );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
for ( var i = 0; i < 3; i++ ) {
|
|
|
|
if( params.springRotation[ i ] !== 0 ) {
|
|
|
|
constraint.enableSpring( i + 3, true );
|
|
constraint.setStiffness( i + 3, params.springRotation[ i ] );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/*
|
|
* Currently(10/31/2016) official ammo.js doesn't support
|
|
* btGeneric6DofSpringConstraint.setParam method.
|
|
* You need custom ammo.js (add the method into idl) if you wanna use.
|
|
* By setting this parameter, physics will be more like MMD's
|
|
*/
|
|
if ( constraint.setParam !== undefined ) {
|
|
|
|
for ( var i = 0; i < 6; i ++ ) {
|
|
|
|
// this parameter is from http://www20.atpages.jp/katwat/three.js_r58/examples/mytest37/mmd.three.js
|
|
constraint.setParam( 2, 0.475, i );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
this.world.addConstraint( constraint, true );
|
|
this.constraint = constraint;
|
|
|
|
helper.freeTransform( form );
|
|
helper.freeTransform( formA );
|
|
helper.freeTransform( formB );
|
|
helper.freeTransform( formInverseA );
|
|
helper.freeTransform( formInverseB );
|
|
helper.freeTransform( formA2 );
|
|
helper.freeTransform( formB2 );
|
|
helper.freeVector3( lll );
|
|
helper.freeVector3( lul );
|
|
helper.freeVector3( all );
|
|
helper.freeVector3( aul );
|
|
|
|
}
|
|
|
|
};
|
|
|
|
|
|
THREE.MMDPhysicsHelper = function ( mesh ) {
|
|
|
|
if ( mesh.physics === undefined || mesh.geometry.rigidBodies === undefined ) {
|
|
|
|
throw 'THREE.MMDPhysicsHelper requires physics in mesh and rigidBodies in mesh.geometry.';
|
|
|
|
}
|
|
|
|
THREE.Object3D.call( this );
|
|
|
|
this.root = mesh;
|
|
|
|
this.matrix = mesh.matrixWorld;
|
|
this.matrixAutoUpdate = false;
|
|
|
|
this.materials = [];
|
|
|
|
this.materials.push(
|
|
new THREE.MeshBasicMaterial( {
|
|
color: new THREE.Color( 0xff8888 ),
|
|
wireframe: true,
|
|
depthTest: false,
|
|
depthWrite: false,
|
|
opacity: 0.25,
|
|
transparent: true
|
|
} )
|
|
);
|
|
|
|
this.materials.push(
|
|
new THREE.MeshBasicMaterial( {
|
|
color: new THREE.Color( 0x88ff88 ),
|
|
wireframe: true,
|
|
depthTest: false,
|
|
depthWrite: false,
|
|
opacity: 0.25,
|
|
transparent: true
|
|
} )
|
|
);
|
|
|
|
this.materials.push(
|
|
new THREE.MeshBasicMaterial( {
|
|
color: new THREE.Color( 0x8888ff ),
|
|
wireframe: true,
|
|
depthTest: false,
|
|
depthWrite: false,
|
|
opacity: 0.25,
|
|
transparent: true
|
|
} )
|
|
);
|
|
|
|
this._init();
|
|
this.update();
|
|
|
|
};
|
|
|
|
THREE.MMDPhysicsHelper.prototype = Object.create( THREE.Object3D.prototype );
|
|
THREE.MMDPhysicsHelper.prototype.constructor = THREE.MMDPhysicsHelper;
|
|
|
|
THREE.MMDPhysicsHelper.prototype._init = function () {
|
|
|
|
var mesh = this.root;
|
|
var rigidBodies = mesh.geometry.rigidBodies;
|
|
|
|
function createGeometry( param ) {
|
|
|
|
switch ( param.shapeType ) {
|
|
|
|
case 0:
|
|
return new THREE.SphereBufferGeometry( param.width, 16, 8 );
|
|
|
|
case 1:
|
|
return new THREE.BoxBufferGeometry( param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8 );
|
|
|
|
case 2:
|
|
return new createCapsuleGeometry( param.width, param.height, 16, 8 );
|
|
|
|
default:
|
|
return null;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
// copy from http://www20.atpages.jp/katwat/three.js_r58/examples/mytest37/mytest37.js?ver=20160815
|
|
function createCapsuleGeometry( radius, cylinderHeight, segmentsRadius, segmentsHeight ) {
|
|
|
|
var geometry = new THREE.CylinderBufferGeometry( radius, radius, cylinderHeight, segmentsRadius, segmentsHeight, true );
|
|
var upperSphere = new THREE.Mesh( new THREE.SphereBufferGeometry( radius, segmentsRadius, segmentsHeight, 0, Math.PI * 2, 0, Math.PI / 2 ) );
|
|
var lowerSphere = new THREE.Mesh( new THREE.SphereBufferGeometry( radius, segmentsRadius, segmentsHeight, 0, Math.PI * 2, Math.PI / 2, Math.PI / 2 ) );
|
|
|
|
upperSphere.position.set( 0, cylinderHeight / 2, 0 );
|
|
lowerSphere.position.set( 0, -cylinderHeight / 2, 0 );
|
|
|
|
upperSphere.updateMatrix();
|
|
lowerSphere.updateMatrix();
|
|
|
|
geometry.merge( upperSphere.geometry, upperSphere.matrix );
|
|
geometry.merge( lowerSphere.geometry, lowerSphere.matrix );
|
|
|
|
return geometry;
|
|
|
|
}
|
|
|
|
for ( var i = 0, il = rigidBodies.length; i < il; i ++ ) {
|
|
|
|
var param = rigidBodies[ i ];
|
|
this.add( new THREE.Mesh( createGeometry( param ), this.materials[ param.type ] ) );
|
|
|
|
}
|
|
|
|
};
|
|
|
|
THREE.MMDPhysicsHelper.prototype.update = function () {
|
|
|
|
var mesh = this.root;
|
|
var rigidBodies = mesh.geometry.rigidBodies;
|
|
var bodies = mesh.physics.bodies;
|
|
|
|
var matrixWorldInv = new THREE.Matrix4().getInverse( mesh.matrixWorld );
|
|
var vector = new THREE.Vector3();
|
|
var quaternion = new THREE.Quaternion();
|
|
var quaternion2 = new THREE.Quaternion();
|
|
|
|
function getPosition( origin ) {
|
|
|
|
vector.set( origin.x(), origin.y(), origin.z() );
|
|
vector.applyMatrix4( matrixWorldInv );
|
|
|
|
return vector;
|
|
|
|
}
|
|
|
|
function getQuaternion( rotation ) {
|
|
|
|
quaternion.set( rotation.x(), rotation.y(), rotation.z(), rotation.w() );
|
|
quaternion2.setFromRotationMatrix( matrixWorldInv );
|
|
quaternion2.multiply( quaternion );
|
|
|
|
return quaternion2;
|
|
|
|
}
|
|
|
|
for ( var i = 0, il = rigidBodies.length; i < il; i ++ ) {
|
|
|
|
var body = bodies[ i ].body;
|
|
var mesh = this.children[ i ];
|
|
|
|
var tr = body.getCenterOfMassTransform();
|
|
|
|
mesh.position.copy( getPosition( tr.getOrigin() ) );
|
|
mesh.quaternion.copy( getQuaternion( tr.getRotation() ) );
|
|
|
|
}
|
|
|
|
};
|