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Cannon.js Debug Renderer

Video Lecture

Description

We can use the CannonDebugRenderer to help visualize the shapes used in the Cannon.js physics world. The shapes will be rendered in the Three.js canvas as wire frames.

Start Scripts

./src/client/client.ts

import * as THREE from 'three'
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
import Stats from 'three/examples/jsm/libs/stats.module'
import { GUI } from 'three/examples/jsm/libs/dat.gui.module'
import * as CANNON from 'cannon'
// import CannonDebugRenderer from './utils/cannonDebugRenderer'
// import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader'

const scene = new THREE.Scene()
scene.add(new THREE.AxesHelper(5))

const light1 = new THREE.SpotLight()
light1.position.set(2.5, 5, 5)
light1.angle = Math.PI / 4
light1.penumbra = 0.5
light1.castShadow = true
light1.shadow.mapSize.width = 1024
light1.shadow.mapSize.height = 1024
light1.shadow.camera.near = 0.5
light1.shadow.camera.far = 20
scene.add(light1)

const light2 = new THREE.SpotLight()
light2.position.set(-2.5, 5, 5)
light2.angle = Math.PI / 4
light2.penumbra = 0.5
light2.castShadow = true
light2.shadow.mapSize.width = 1024
light2.shadow.mapSize.height = 1024
light2.shadow.camera.near = 0.5
light2.shadow.camera.far = 20
scene.add(light2)

const camera = new THREE.PerspectiveCamera(
    75,
    window.innerWidth / window.innerHeight,
    0.1,
    1000
)
camera.position.set(0, 3, 6)

const renderer = new THREE.WebGLRenderer()
renderer.setSize(window.innerWidth, window.innerHeight)
renderer.shadowMap.enabled = true
document.body.appendChild(renderer.domElement)

const controls = new OrbitControls(camera, renderer.domElement)
controls.enableDamping = true
controls.target.y = 0.5

const world = new CANNON.World()
world.gravity.set(0, -9.82, 0)
//world.broadphase = new CANNON.NaiveBroadphase() //
//world.solver.iterations = 10
//world.allowSleep = true

const normalMaterial = new THREE.MeshNormalMaterial()
const phongMaterial = new THREE.MeshPhongMaterial()

const cubeGeometry = new THREE.BoxGeometry(1, 1, 1)
const cubeMesh = new THREE.Mesh(cubeGeometry, normalMaterial)
cubeMesh.position.x = -4
cubeMesh.position.y = 3
cubeMesh.castShadow = true
scene.add(cubeMesh)
const cubeShape = new CANNON.Box(new CANNON.Vec3(0.5, 0.5, 0.5))
const cubeBody = new CANNON.Body({ mass: 1 })
cubeBody.addShape(cubeShape)
cubeBody.position.x = cubeMesh.position.x
cubeBody.position.y = cubeMesh.position.y
cubeBody.position.z = cubeMesh.position.z
world.addBody(cubeBody)

const sphereGeometry = new THREE.SphereGeometry()
const sphereMesh = new THREE.Mesh(sphereGeometry, normalMaterial)
sphereMesh.position.x = -2
sphereMesh.position.y = 3
sphereMesh.castShadow = true
scene.add(sphereMesh)
const sphereShape = new CANNON.Sphere(1)
const sphereBody = new CANNON.Body({ mass: 1 })
sphereBody.addShape(sphereShape)
sphereBody.position.x = sphereMesh.position.x
sphereBody.position.y = sphereMesh.position.y
sphereBody.position.z = sphereMesh.position.z
world.addBody(sphereBody)

// const cylinderGeometry = new THREE.CylinderGeometry(1, 1, 2, 8)
// const cylinderMesh = new THREE.Mesh(cylinderGeometry, normalMaterial)
// cylinderMesh.position.x = 0
// cylinderMesh.position.y = 3
// cylinderMesh.castShadow = true
// scene.add(cylinderMesh)
// const cylinderShape = new CANNON.Cylinder(1, 1, 2, 8)
// const cylinderBody = new CANNON.Body({ mass: 1 });
// const cylinderQuaternion = new CANNON.Quaternion()
// // cylinderQuaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), Math.PI / 2)
// cylinderBody.addShape(cylinderShape) // , new CANNON.Vec3, cylinderQuaternion)
// cylinderBody.position.x = cylinderMesh.position.x
// cylinderBody.position.y = cylinderMesh.position.y
// cylinderBody.position.z = cylinderMesh.position.z
// world.addBody(cylinderBody)

const icosahedronGeometry = new THREE.IcosahedronGeometry(1, 0)
const icosahedronMesh = new THREE.Mesh(icosahedronGeometry, normalMaterial)
icosahedronMesh.position.x = 2
icosahedronMesh.position.y = 3
icosahedronMesh.castShadow = true
scene.add(icosahedronMesh)
// const position = icosahedronMesh.geometry.attributes.position.array
// const icosahedronPoints: CANNON.Vec3[] = []
// for (let i = 0; i < position.length; i += 3) {
//     icosahedronPoints.push(
//         new CANNON.Vec3(position[i], position[i + 1], position[i + 2])
//     )
// }
// const icosahedronFaces: number[][] = []
// for (let i = 0; i < position.length / 3; i += 3) {
//     icosahedronFaces.push([i, i + 1, i + 2])
// }
// const icosahedronShape = new CANNON.ConvexPolyhedron(
//     icosahedronPoints,
//     icosahedronFaces
// )
const icosahedronShape = CreateConvexPolyhedron(icosahedronMesh.geometry)
const icosahedronBody = new CANNON.Body({ mass: 1 })
icosahedronBody.addShape(icosahedronShape)
icosahedronBody.position.x = icosahedronMesh.position.x
icosahedronBody.position.y = icosahedronMesh.position.y
icosahedronBody.position.z = icosahedronMesh.position.z
world.addBody(icosahedronBody)

const torusKnotGeometry = new THREE.TorusKnotGeometry()
const torusKnotMesh = new THREE.Mesh(torusKnotGeometry, normalMaterial)
torusKnotMesh.position.x = 4
torusKnotMesh.position.y = 3
torusKnotMesh.castShadow = true
scene.add(torusKnotMesh)
const torusKnotShape = CreateTrimesh(torusKnotMesh.geometry)
const torusKnotBody = new CANNON.Body({ mass: 1 })
torusKnotBody.addShape(torusKnotShape)
torusKnotBody.position.x = torusKnotMesh.position.x
torusKnotBody.position.y = torusKnotMesh.position.y
torusKnotBody.position.z = torusKnotMesh.position.z
world.addBody(torusKnotBody)

// let monkeyMesh: THREE.Object3D
// let monkeyBody: CANNON.Body
// let monkeyLoaded = false
// const objLoader: OBJLoader = new OBJLoader()
// objLoader.load(
//     'models/monkey.obj',
//     (object) => {
//         scene.add(object)
//         monkeyMesh = object.children[0];
//         (monkeyMesh as THREE.Mesh).material = normalMaterial
//         monkeyMesh.position.x = -2
//         monkeyMesh.position.y = 20
//         const monkeyShape = CreateTrimesh((monkeyMesh as THREE.Mesh).geometry)
//         monkeyBody = new CANNON.Body({ mass: 1 })
//         monkeyBody.addShape(monkeyShape)
//         // monkeyBody.addShape(cubeShape)
//         // monkeyBody.addShape(sphereShape)
//         // monkeyBody.addShape(cylinderShape)
//         // monkeyBody.addShape(icosahedronShape)
//         // monkeyBody.addShape(new CANNON.Plane())
//         // monkeyBody.quaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), Math.PI / 2)
//         monkeyBody.position.x = monkeyMesh.position.x
//         monkeyBody.position.y = monkeyMesh.position.y
//         monkeyBody.position.z = monkeyMesh.position.z
//         world.addBody(monkeyBody)
//         monkeyLoaded = true
//     },
//     (xhr) => {
//         console.log((xhr.loaded / xhr.total * 100) + '% loaded')
//     },
//     (error) => {
//         console.log('An error happened')
//     }
// )

const planeGeometry = new THREE.PlaneGeometry(25, 25)
const planeMesh = new THREE.Mesh(planeGeometry, phongMaterial)
planeMesh.position.y = -0.01
planeMesh.rotateX(-Math.PI / 2)
planeMesh.receiveShadow = true
scene.add(planeMesh)
const planeShape = new CANNON.Plane()
const planeBody = new CANNON.Body({ mass: 0 })
planeBody.addShape(planeShape)
planeBody.quaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), -Math.PI / 2)
world.addBody(planeBody)

function CreateTrimesh(geometry: THREE.BufferGeometry): CANNON.Trimesh {
    const vertices = <number[]>geometry.attributes.position.array
    const indices = Object.keys(vertices).map(Number)
    return new CANNON.Trimesh(vertices, indices)
}

function CreateConvexPolyhedron(
    geometry: THREE.BufferGeometry
): CANNON.ConvexPolyhedron {
    const position = geometry.attributes.position.array
    const points: CANNON.Vec3[] = []
    for (let i = 0; i < position.length; i += 3) {
        const x = position[i]
        const y = position[i + 1]
        const z = position[i + 2]
        points.push(new CANNON.Vec3(x, y, z))
    }
    const faces: number[][] = []
    for (let i = 0; i < position.length / 3; i += 3) {
        faces.push([i, i + 1, i + 2])
    }
    return new CANNON.ConvexPolyhedron(points, faces)
}

window.addEventListener('resize', onWindowResize, false)
function onWindowResize() {
    camera.aspect = window.innerWidth / window.innerHeight
    camera.updateProjectionMatrix()
    renderer.setSize(window.innerWidth, window.innerHeight)
    render()
}

const stats = Stats()
document.body.appendChild(stats.dom)

const gui = new GUI()
const physicsFolder = gui.addFolder('Physics')
physicsFolder.add(world.gravity, 'x', -10.0, 10.0, 0.1)
physicsFolder.add(world.gravity, 'y', -10.0, 10.0, 0.1)
physicsFolder.add(world.gravity, 'z', -10.0, 10.0, 0.1)
physicsFolder.open()

const clock = new THREE.Clock()
let delta

//const cannonDebugRenderer = new CannonDebugRenderer(scene, world)

function animate() {
    requestAnimationFrame(animate)

    controls.update()

    delta = clock.getDelta()
    if (delta > 0.1) delta = 0.1
    world.step(delta)
    // cannonDebugRenderer.update()

    // Copy coordinates from Cannon.js to Three.js
    cubeMesh.position.set(
        cubeBody.position.x,
        cubeBody.position.y,
        cubeBody.position.z
    )
    cubeMesh.quaternion.set(
        cubeBody.quaternion.x,
        cubeBody.quaternion.y,
        cubeBody.quaternion.z,
        cubeBody.quaternion.w
    )
    sphereMesh.position.set(
        sphereBody.position.x,
        sphereBody.position.y,
        sphereBody.position.z
    )
    sphereMesh.quaternion.set(
        sphereBody.quaternion.x,
        sphereBody.quaternion.y,
        sphereBody.quaternion.z,
        sphereBody.quaternion.w
    )
    // cylinderMesh.position.set(cylinderBody.position.x, cylinderBody.position.y, cylinderBody.position.z);
    // cylinderMesh.quaternion.set(cylinderBody.quaternion.x, cylinderBody.quaternion.y, cylinderBody.quaternion.z, cylinderBody.quaternion.w);
    icosahedronMesh.position.set(
        icosahedronBody.position.x,
        icosahedronBody.position.y,
        icosahedronBody.position.z
    )
    icosahedronMesh.quaternion.set(
        icosahedronBody.quaternion.x,
        icosahedronBody.quaternion.y,
        icosahedronBody.quaternion.z,
        icosahedronBody.quaternion.w
    )
    torusKnotMesh.position.set(
        torusKnotBody.position.x,
        torusKnotBody.position.y,
        torusKnotBody.position.z
    )
    torusKnotMesh.quaternion.set(
        torusKnotBody.quaternion.x,
        torusKnotBody.quaternion.y,
        torusKnotBody.quaternion.z,
        torusKnotBody.quaternion.w
    )
    // if (monkeyLoaded) {
    //     monkeyMesh.position.set(monkeyBody.position.x, monkeyBody.position.y, monkeyBody.position.z);
    //     monkeyMesh.quaternion.set(monkeyBody.quaternion.x, monkeyBody.quaternion.y, monkeyBody.quaternion.z, monkeyBody.quaternion.w);
    // }

    render()

    stats.update()
}

function render() {
    renderer.render(scene, camera)
}

animate()

./src/client/utils/cannonDebugRenderer.ts

Create a new folder at ./src/client/utils and save this file cannonDebugRenderer.ts. Take note that the extension is .ts.

// MIT License
// Original file https://github.com/schteppe/cannon.js/blob/908aa1e954b54d05a43dd708584e882dfe30ae29/tools/threejs/CannonDebugRenderer.js CopyRight https://github.com/schteppe
// Differences Copyright 2020 Sean Bradley : https://sbcode.net/threejs/
// - Added import statements for THREE
// - Converted to a class with a default export,
// - Converted to TypeScript
// - Changed references of Three.Geometry to THREE.BufferGeometry
// - Highlight faces that the CONVEXPOLYHEDRON thinks are pointing into the shape.

// If using Module Specifiers
import * as THREE from 'three'
import * as CANNON from 'cannon'

export default class CannonDebugRenderer {
    public scene: THREE.Scene
    public world: CANNON.World
    private _meshes: THREE.Mesh[] | THREE.Points[]
    private _material: THREE.MeshBasicMaterial
    private _particleMaterial = new THREE.PointsMaterial()
    private _sphereGeometry: THREE.SphereBufferGeometry
    private _boxGeometry: THREE.BoxBufferGeometry
    private _planeGeometry: THREE.PlaneBufferGeometry
    private _particleGeometry: THREE.BufferGeometry

    private tmpVec0: CANNON.Vec3 = new CANNON.Vec3()
    private tmpVec1: CANNON.Vec3 = new CANNON.Vec3()
    private tmpVec2: CANNON.Vec3 = new CANNON.Vec3()
    private tmpQuat0: CANNON.Quaternion = new CANNON.Quaternion()

    constructor(scene: THREE.Scene, world: CANNON.World, options?: object) {
        options = options || {}

        this.scene = scene
        this.world = world

        this._meshes = []

        this._material = new THREE.MeshBasicMaterial({
            color: 0x00ff00,
            wireframe: true
        })
        this._particleMaterial = new THREE.PointsMaterial({
            color: 0xff0000,
            size: 10,
            sizeAttenuation: false,
            depthTest: false
        })
        this._sphereGeometry = new THREE.SphereBufferGeometry(1)
        this._boxGeometry = new THREE.BoxBufferGeometry(1, 1, 1)
        this._planeGeometry = new THREE.PlaneBufferGeometry(10, 10, 10, 10)
        this._particleGeometry = new THREE.BufferGeometry()
        this._particleGeometry.setFromPoints([new THREE.Vector3(0, 0, 0)])
    }

    public update() {
        const bodies: CANNON.Body[] = this.world.bodies
        const meshes: THREE.Mesh[] | THREE.Points[] = this._meshes
        const shapeWorldPosition: CANNON.Vec3 = this.tmpVec0
        const shapeWorldQuaternion: CANNON.Quaternion = this.tmpQuat0

        let meshIndex = 0

        for (let i = 0; i !== bodies.length; i++) {
            const body = bodies[i]

            for (let j = 0; j !== body.shapes.length; j++) {
                const shape = body.shapes[j]

                this._updateMesh(meshIndex, body, shape)

                const mesh = meshes[meshIndex]

                if (mesh) {
                    // Get world position
                    body.quaternion.vmult(
                        body.shapeOffsets[j],
                        shapeWorldPosition
                    )
                    body.position.vadd(shapeWorldPosition, shapeWorldPosition)

                    // Get world quaternion
                    body.quaternion.mult(
                        body.shapeOrientations[j],
                        shapeWorldQuaternion
                    )

                    // Copy to meshes
                    mesh.position.x = shapeWorldPosition.x
                    mesh.position.y = shapeWorldPosition.y
                    mesh.position.z = shapeWorldPosition.z
                    mesh.quaternion.x = shapeWorldQuaternion.x
                    mesh.quaternion.y = shapeWorldQuaternion.y
                    mesh.quaternion.z = shapeWorldQuaternion.z
                    mesh.quaternion.w = shapeWorldQuaternion.w
                }

                meshIndex++
            }
        }

        for (let i = meshIndex; i < meshes.length; i++) {
            const mesh: THREE.Mesh | THREE.Points = meshes[i]
            if (mesh) {
                this.scene.remove(mesh)
            }
        }

        meshes.length = meshIndex
    }

    private _updateMesh(index: number, body: CANNON.Body, shape: CANNON.Shape) {
        let mesh = this._meshes[index]
        if (!this._typeMatch(mesh, shape)) {
            if (mesh) {
                this.scene.remove(mesh)
            }
            mesh = this._meshes[index] = this._createMesh(shape)
        }
        this._scaleMesh(mesh, shape)
    }

    private _typeMatch(
        mesh: THREE.Mesh | THREE.Points,
        shape: CANNON.Shape
    ): boolean {
        if (!mesh) {
            return false
        }
        const geo: THREE.BufferGeometry = mesh.geometry
        return (
            (geo instanceof THREE.SphereGeometry &&
                shape instanceof CANNON.Sphere) ||
            (geo instanceof THREE.BoxGeometry && shape instanceof CANNON.Box) ||
            (geo instanceof THREE.PlaneGeometry &&
                shape instanceof CANNON.Plane) ||
            (geo.id === shape.geometryId &&
                shape instanceof CANNON.ConvexPolyhedron) ||
            (geo.id === shape.geometryId && shape instanceof CANNON.Trimesh) ||
            (geo.id === shape.geometryId && shape instanceof CANNON.Heightfield)
        )
    }

    private _createMesh(shape: CANNON.Shape): THREE.Mesh | THREE.Points {
        let mesh: THREE.Mesh | THREE.Points
        let geometry: THREE.BufferGeometry
        let v0: CANNON.Vec3
        let v1: CANNON.Vec3
        let v2: CANNON.Vec3
        const material: THREE.MeshBasicMaterial = this._material
        let points: THREE.Vector3[] = []

        switch (shape.type) {
            case CANNON.Shape.types.SPHERE:
                mesh = new THREE.Mesh(this._sphereGeometry, material)
                break

            case CANNON.Shape.types.BOX:
                mesh = new THREE.Mesh(this._boxGeometry, material)
                break

            case CANNON.Shape.types.PLANE:
                mesh = new THREE.Mesh(this._planeGeometry, material)
                break

            case CANNON.Shape.types.PARTICLE:
                mesh = new THREE.Points(
                    this._particleGeometry,
                    this._particleMaterial
                )
                break

            case CANNON.Shape.types.CONVEXPOLYHEDRON:
                // Create mesh
                //console.log("creatin ConvexPolyhedron debug")
                geometry = new THREE.BufferGeometry()
                points = []
                for (
                    let i = 0;
                    i < (shape as CANNON.ConvexPolyhedron).vertices.length;
                    i += 1
                ) {
                    const v = (shape as CANNON.ConvexPolyhedron).vertices[i]
                    points.push(new THREE.Vector3(v.x, v.y, v.z))
                }
                geometry.setFromPoints(points)
                mesh = new THREE.Mesh(geometry, material)
                shape.geometryId = geometry.id

                //highlight faces that the CONVEXPOLYHEDRON thinks are pointing into the shape.
                // geometry.faces.forEach(f => {
                //     const n = f.normal
                //     n.negate();
                //     f.normal = n
                //     const v1 = geometry.vertices[f.a]
                //     if (n.dot(v1) > 0) {
                //         const v2 = geometry.vertices[f.b]
                //         const v3 = geometry.vertices[f.c]

                //         const p = new THREE.Vector3();
                //         p.x = (v1.x + v2.x + v3.x) / 3;
                //         p.y = (v1.y + v2.y + v3.y) / 3;
                //         p.z = (v1.z + v2.z + v3.z) / 3;

                //         const g = new THREE.Geometry();
                //         g.vertices.push(v1, v2, v3)
                //         g.faces.push(new THREE.Face3(0, 1, 2));
                //         g.computeFaceNormals();
                //         const m = new THREE.Mesh(g, new THREE.MeshBasicMaterial({ color: 0xff0000 }));
                //         mesh.add(m)
                //     }
                // });
                break

            case CANNON.Shape.types.TRIMESH:
                console.log('creatin trimesh debug')
                geometry = new THREE.BufferGeometry()
                points = []
                for (
                    let i = 0;
                    i < (shape as CANNON.Trimesh).vertices.length;
                    i += 3
                ) {
                    points.push(
                        new THREE.Vector3(
                            (shape as CANNON.Trimesh).vertices[i],
                            (shape as CANNON.Trimesh).vertices[i + 1],
                            (shape as CANNON.Trimesh).vertices[i + 2]
                        )
                    )
                }
                geometry.setFromPoints(points)
                mesh = new THREE.Mesh(geometry, material)
                shape.geometryId = geometry.id
                break

            case CANNON.Shape.types.HEIGHTFIELD:
                geometry = new THREE.BufferGeometry()

                v0 = this.tmpVec0
                v1 = this.tmpVec1
                v2 = this.tmpVec2
                for (
                    let xi = 0;
                    xi < (shape as CANNON.Heightfield).data.length - 1;
                    xi++
                ) {
                    for (
                        let yi = 0;
                        yi < (shape as CANNON.Heightfield).data[xi].length - 1;
                        yi++
                    ) {
                        for (let k = 0; k < 2; k++) {
                            ;(
                                shape as CANNON.Heightfield
                            ).getConvexTrianglePillar(xi, yi, k === 0)
                            v0.copy(
                                (shape as CANNON.Heightfield).pillarConvex
                                    .vertices[0]
                            )
                            v1.copy(
                                (shape as CANNON.Heightfield).pillarConvex
                                    .vertices[1]
                            )
                            v2.copy(
                                (shape as CANNON.Heightfield).pillarConvex
                                    .vertices[2]
                            )
                            v0.vadd(
                                (shape as CANNON.Heightfield).pillarOffset,
                                v0
                            )
                            v1.vadd(
                                (shape as CANNON.Heightfield).pillarOffset,
                                v1
                            )
                            v2.vadd(
                                (shape as CANNON.Heightfield).pillarOffset,
                                v2
                            )
                            points.push(
                                new THREE.Vector3(v0.x, v0.y, v0.z),
                                new THREE.Vector3(v1.x, v1.y, v1.z),
                                new THREE.Vector3(v2.x, v2.y, v2.z)
                            )
                            //const i = geometry.vertices.length - 3
                            //geometry.faces.push(new THREE.Face3(i, i + 1, i + 2))
                        }
                    }
                }
                geometry.setFromPoints(points)
                //geometry.computeBoundingSphere()
                //geometry.computeFaceNormals()
                mesh = new THREE.Mesh(geometry, material)
                shape.geometryId = geometry.id
                break
            default:
                mesh = new THREE.Mesh()
                break
        }

        if (mesh && mesh.geometry) {
            this.scene.add(mesh)
        }

        return mesh
    }

    private _scaleMesh(mesh: THREE.Mesh | THREE.Points, shape: CANNON.Shape) {
        let radius: number
        let halfExtents: CANNON.Vec3
        let scale: CANNON.Vec3

        switch (shape.type) {
            case CANNON.Shape.types.SPHERE:
                radius = (shape as CANNON.Sphere).radius
                mesh.scale.set(radius, radius, radius)
                break

            case CANNON.Shape.types.BOX:
                halfExtents = (shape as CANNON.Box).halfExtents
                mesh.scale.copy(
                    new THREE.Vector3(
                        halfExtents.x,
                        halfExtents.y,
                        halfExtents.z
                    )
                )
                mesh.scale.multiplyScalar(2)
                break

            case CANNON.Shape.types.CONVEXPOLYHEDRON:
                mesh.scale.set(1, 1, 1)
                break

            case CANNON.Shape.types.TRIMESH:
                scale = (shape as CANNON.Trimesh).scale
                mesh.scale.copy(new THREE.Vector3(scale.x, scale.y, scale.z))
                break

            case CANNON.Shape.types.HEIGHTFIELD:
                mesh.scale.set(1, 1, 1)
                break
        }
    }
}

Final Script

./src/client/client.ts

import * as THREE from 'three'
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
import Stats from 'three/examples/jsm/libs/stats.module'
import { GUI } from 'three/examples/jsm/libs/dat.gui.module'
import * as CANNON from 'cannon'
import CannonDebugRenderer from './utils/cannonDebugRenderer'
import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader'

const scene = new THREE.Scene()
scene.add(new THREE.AxesHelper(5))

const light1 = new THREE.SpotLight()
light1.position.set(2.5, 5, 5)
light1.angle = Math.PI / 4
light1.penumbra = 0.5
light1.castShadow = true
light1.shadow.mapSize.width = 1024
light1.shadow.mapSize.height = 1024
light1.shadow.camera.near = 0.5
light1.shadow.camera.far = 20
scene.add(light1)

const light2 = new THREE.SpotLight()
light2.position.set(-2.5, 5, 5)
light2.angle = Math.PI / 4
light2.penumbra = 0.5
light2.castShadow = true
light2.shadow.mapSize.width = 1024
light2.shadow.mapSize.height = 1024
light2.shadow.camera.near = 0.5
light2.shadow.camera.far = 20
scene.add(light2)

const camera = new THREE.PerspectiveCamera(
    75,
    window.innerWidth / window.innerHeight,
    0.1,
    1000
)
camera.position.set(0, 3, 6)

const renderer = new THREE.WebGLRenderer()
renderer.setSize(window.innerWidth, window.innerHeight)
renderer.shadowMap.enabled = true
document.body.appendChild(renderer.domElement)

const controls = new OrbitControls(camera, renderer.domElement)
controls.enableDamping = true
controls.target.y = 0.5

const world = new CANNON.World()
world.gravity.set(0, -9.82, 0)
//world.broadphase = new CANNON.NaiveBroadphase() //
//world.solver.iterations = 10
//world.allowSleep = true

const normalMaterial = new THREE.MeshNormalMaterial()
const phongMaterial = new THREE.MeshPhongMaterial()

const cubeGeometry = new THREE.BoxGeometry(1, 1, 1)
const cubeMesh = new THREE.Mesh(cubeGeometry, normalMaterial)
cubeMesh.position.x = -4
cubeMesh.position.y = 3
cubeMesh.castShadow = true
scene.add(cubeMesh)
const cubeShape = new CANNON.Box(new CANNON.Vec3(0.5, 0.5, 0.5))
const cubeBody = new CANNON.Body({ mass: 1 })
cubeBody.addShape(cubeShape)
cubeBody.position.x = cubeMesh.position.x
cubeBody.position.y = cubeMesh.position.y
cubeBody.position.z = cubeMesh.position.z
world.addBody(cubeBody)

const sphereGeometry = new THREE.SphereGeometry()
const sphereMesh = new THREE.Mesh(sphereGeometry, normalMaterial)
sphereMesh.position.x = -2
sphereMesh.position.y = 3
sphereMesh.castShadow = true
scene.add(sphereMesh)
const sphereShape = new CANNON.Sphere(1)
const sphereBody = new CANNON.Body({ mass: 1 })
sphereBody.addShape(sphereShape)
sphereBody.position.x = sphereMesh.position.x
sphereBody.position.y = sphereMesh.position.y
sphereBody.position.z = sphereMesh.position.z
world.addBody(sphereBody)

const cylinderGeometry = new THREE.CylinderGeometry(1, 1, 2, 8)
const cylinderMesh = new THREE.Mesh(cylinderGeometry, normalMaterial)
cylinderMesh.position.x = 0
cylinderMesh.position.y = 3
cylinderMesh.castShadow = true
scene.add(cylinderMesh)
const cylinderShape = new CANNON.Cylinder(1, 1, 2, 8)
const cylinderBody = new CANNON.Body({ mass: 1 })
const cylinderQuaternion = new CANNON.Quaternion()
cylinderQuaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), Math.PI / 2)
cylinderBody.addShape(cylinderShape, new CANNON.Vec3(), cylinderQuaternion)
cylinderBody.position.x = cylinderMesh.position.x
cylinderBody.position.y = cylinderMesh.position.y
cylinderBody.position.z = cylinderMesh.position.z
world.addBody(cylinderBody)

const icosahedronGeometry = new THREE.IcosahedronGeometry(1, 0)
const icosahedronMesh = new THREE.Mesh(icosahedronGeometry, normalMaterial)
icosahedronMesh.position.x = 2
icosahedronMesh.position.y = 3
icosahedronMesh.castShadow = true
scene.add(icosahedronMesh)
const icosahedronShape = CreateConvexPolyhedron(icosahedronMesh.geometry)
const icosahedronBody = new CANNON.Body({ mass: 1 })
icosahedronBody.addShape(icosahedronShape)
icosahedronBody.position.x = icosahedronMesh.position.x
icosahedronBody.position.y = icosahedronMesh.position.y
icosahedronBody.position.z = icosahedronMesh.position.z
world.addBody(icosahedronBody)

const torusKnotGeometry = new THREE.TorusKnotGeometry()
const torusKnotMesh = new THREE.Mesh(torusKnotGeometry, normalMaterial)
torusKnotMesh.position.x = 4
torusKnotMesh.position.y = 3
torusKnotMesh.castShadow = true
scene.add(torusKnotMesh)
const torusKnotShape = CreateTrimesh(torusKnotMesh.geometry)
const torusKnotBody = new CANNON.Body({ mass: 1 })
torusKnotBody.addShape(torusKnotShape)
torusKnotBody.position.x = torusKnotMesh.position.x
torusKnotBody.position.y = torusKnotMesh.position.y
torusKnotBody.position.z = torusKnotMesh.position.z
world.addBody(torusKnotBody)

let monkeyMesh: THREE.Object3D
let monkeyBody: CANNON.Body
let monkeyLoaded = false
const objLoader: OBJLoader = new OBJLoader()
objLoader.load(
    'models/monkey.obj',
    (object) => {
        scene.add(object)
        monkeyMesh = object.children[0]
        ;(monkeyMesh as THREE.Mesh).material = normalMaterial
        monkeyMesh.position.x = 0
        monkeyMesh.position.y = 20
        // const monkeyShape = CreateTrimesh((monkeyMesh as THREE.Mesh).geometry)
        monkeyBody = new CANNON.Body({ mass: 1 })
        // monkeyBody.addShape(monkeyShape)
        // monkeyBody.addShape(cubeShape)
        // monkeyBody.addShape(sphereShape)
        // monkeyBody.addShape(cylinderShape)
        monkeyBody.addShape(icosahedronShape)
        // monkeyBody.addShape(new CANNON.Plane())
        // monkeyBody.quaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), Math.PI / 2)
        monkeyBody.position.x = monkeyMesh.position.x
        monkeyBody.position.y = monkeyMesh.position.y
        monkeyBody.position.z = monkeyMesh.position.z
        world.addBody(monkeyBody)
        monkeyLoaded = true
    },
    (xhr) => {
        console.log((xhr.loaded / xhr.total) * 100 + '% loaded')
    },
    (error) => {
        console.log('An error happened')
    }
)

const planeGeometry = new THREE.PlaneGeometry(25, 25)
const planeMesh = new THREE.Mesh(planeGeometry, phongMaterial)
planeMesh.position.y = -0.01
planeMesh.rotateX(-Math.PI / 2)
planeMesh.receiveShadow = true
scene.add(planeMesh)
const planeShape = new CANNON.Plane()
const planeBody = new CANNON.Body({ mass: 0 })
planeBody.addShape(planeShape)
planeBody.quaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), -Math.PI / 2)
world.addBody(planeBody)

function CreateTrimesh(geometry: THREE.BufferGeometry): CANNON.Trimesh {
    const vertices = <number[]>geometry.attributes.position.array
    const indices = Object.keys(vertices).map(Number)
    return new CANNON.Trimesh(vertices, indices)
}

function CreateConvexPolyhedron(
    geometry: THREE.BufferGeometry
): CANNON.ConvexPolyhedron {
    const position = geometry.attributes.position.array
    const points: CANNON.Vec3[] = []
    for (let i = 0; i < position.length; i += 3) {
        const x = position[i]
        const y = position[i + 1]
        const z = position[i + 2]
        points.push(new CANNON.Vec3(x, y, z))
    }
    const faces: number[][] = []
    for (let i = 0; i < position.length / 3; i += 3) {
        faces.push([i, i + 1, i + 2])
    }
    return new CANNON.ConvexPolyhedron(points, faces)
}

window.addEventListener('resize', onWindowResize, false)
function onWindowResize() {
    camera.aspect = window.innerWidth / window.innerHeight
    camera.updateProjectionMatrix()
    renderer.setSize(window.innerWidth, window.innerHeight)
    render()
}

const stats = Stats()
document.body.appendChild(stats.dom)

const gui = new GUI()
const physicsFolder = gui.addFolder('Physics')
physicsFolder.add(world.gravity, 'x', -10.0, 10.0, 0.1)
physicsFolder.add(world.gravity, 'y', -10.0, 10.0, 0.1)
physicsFolder.add(world.gravity, 'z', -10.0, 10.0, 0.1)
physicsFolder.open()

const clock = new THREE.Clock()
let delta

const cannonDebugRenderer = new CannonDebugRenderer(scene, world)

function animate() {
    requestAnimationFrame(animate)

    controls.update()

    delta = clock.getDelta()
    if (delta > 0.1) delta = 0.1
    world.step(delta)
    cannonDebugRenderer.update()

    // Copy coordinates from Cannon.js to Three.js
    cubeMesh.position.set(
        cubeBody.position.x,
        cubeBody.position.y,
        cubeBody.position.z
    )
    cubeMesh.quaternion.set(
        cubeBody.quaternion.x,
        cubeBody.quaternion.y,
        cubeBody.quaternion.z,
        cubeBody.quaternion.w
    )
    sphereMesh.position.set(
        sphereBody.position.x,
        sphereBody.position.y,
        sphereBody.position.z
    )
    sphereMesh.quaternion.set(
        sphereBody.quaternion.x,
        sphereBody.quaternion.y,
        sphereBody.quaternion.z,
        sphereBody.quaternion.w
    )
    cylinderMesh.position.set(
        cylinderBody.position.x,
        cylinderBody.position.y,
        cylinderBody.position.z
    )
    cylinderMesh.quaternion.set(
        cylinderBody.quaternion.x,
        cylinderBody.quaternion.y,
        cylinderBody.quaternion.z,
        cylinderBody.quaternion.w
    )
    icosahedronMesh.position.set(
        icosahedronBody.position.x,
        icosahedronBody.position.y,
        icosahedronBody.position.z
    )
    icosahedronMesh.quaternion.set(
        icosahedronBody.quaternion.x,
        icosahedronBody.quaternion.y,
        icosahedronBody.quaternion.z,
        icosahedronBody.quaternion.w
    )
    torusKnotMesh.position.set(
        torusKnotBody.position.x,
        torusKnotBody.position.y,
        torusKnotBody.position.z
    )
    torusKnotMesh.quaternion.set(
        torusKnotBody.quaternion.x,
        torusKnotBody.quaternion.y,
        torusKnotBody.quaternion.z,
        torusKnotBody.quaternion.w
    )
    if (monkeyLoaded) {
        monkeyMesh.position.set(
            monkeyBody.position.x,
            monkeyBody.position.y,
            monkeyBody.position.z
        )
        monkeyMesh.quaternion.set(
            monkeyBody.quaternion.x,
            monkeyBody.quaternion.y,
            monkeyBody.quaternion.z,
            monkeyBody.quaternion.w
        )
    }

    render()

    stats.update()
}

function render() {
    renderer.render(scene, camera)
}

animate()

Useful Links

Supported Cannon.js Shape Collisions

TypeScript Module Resolution