Cannon.js Debug Renderer

Video Lecture

Cannon.js Debug Renderer Cannon.js Debug Renderer

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/server/server.ts

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import express from "express"
import path from "path"
import http from "http"

const port: number = 3000

class App {
    private server: http.Server
    private port: number

    constructor(port: number) {
        this.port = port
        const app = express()
        app.use(express.static(path.join(__dirname, '../client')))
        app.use('/build/three.module.js', express.static(path.join(__dirname, '../../node_modules/three/build/three.module.js')))
        app.use('/jsm/controls/OrbitControls', express.static(path.join(__dirname, '../../node_modules/three/examples/jsm/controls/OrbitControls.js')))
        app.use('/jsm/libs/stats.module', express.static(path.join(__dirname, '../../node_modules/three/examples/jsm/libs/stats.module.js')))
        app.use('/jsm/libs/dat.gui.module', express.static(path.join(__dirname, '../../node_modules/three/examples/jsm/libs/dat.gui.module.js')))
        app.use('/jsm/loaders/OBJLoader', express.static(path.join(__dirname, '../../node_modules/three/examples/jsm/loaders/OBJLoader.js')))
        app.use('/cannon/cannon.min', express.static(path.join(__dirname, '../../node_modules/cannon/build/cannon.min.js')))

        this.server = new http.Server(app);
    }

    public Start() {
        this.server.listen(this.port, () => {
            console.log( `Server listening on port ${this.port}.` )
        })
    }
}

new App(port).Start()

./src/client/client.ts

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

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

var 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);

var 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: THREE.PerspectiveCamera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000)

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

const controls = new OrbitControls(camera, renderer.domElement)
controls.screenSpacePanning = true

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

const cubeGeometry: THREE.BoxGeometry = new THREE.BoxGeometry(1, 1, 1)
const cubeMesh: THREE.Mesh = new THREE.Mesh(cubeGeometry, normalMaterial)
cubeMesh.position.x = -3
cubeMesh.position.y = 3
cubeMesh.castShadow = true
scene.add(cubeMesh)
const cubeShape = new CANNON.Box(new CANNON.Vec3(.5, .5, .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: THREE.SphereGeometry = new THREE.SphereGeometry()
const sphereMesh: THREE.Mesh = new THREE.Mesh(sphereGeometry, normalMaterial)
sphereMesh.position.x = -1
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: THREE.CylinderGeometry = new THREE.CylinderGeometry(1, 1, 2, 8)
// const cylinderMesh: THREE.Mesh = 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: THREE.IcosahedronGeometry = new THREE.IcosahedronGeometry(1, 0)
const icosahedronMesh: THREE.Mesh = new THREE.Mesh(icosahedronGeometry, normalMaterial)
icosahedronMesh.position.x = 1
icosahedronMesh.position.y = 3
icosahedronMesh.castShadow = true
scene.add(icosahedronMesh)
// const icosahedronPoints = (<THREE.Geometry>icosahedronMesh.geometry).vertices.map(function (v) {
//     return new CANNON.Vec3(v.x, v.y, v.z)
// })
// const icosahedronFaces = (<THREE.Geometry>icosahedronMesh.geometry).faces.map(function (f) {
//     return [f.a, f.b, f.c]
// })
// 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: THREE.TorusKnotGeometry = new THREE.TorusKnotGeometry()
const torusKnotMesh: THREE.Mesh = new THREE.Mesh(torusKnotGeometry, normalMaterial)
torusKnotMesh.position.x = 3
torusKnotMesh.position.y = 3
torusKnotMesh.castShadow = true
scene.add(torusKnotMesh)
const torusKnotShape = CreateTrimesh(<THREE.Geometry>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: Boolean = 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: THREE.PlaneGeometry = new THREE.PlaneGeometry(25, 25)
const planeMesh: THREE.Mesh = new THREE.Mesh(planeGeometry, phongMaterial)
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.Geometry | THREE.BufferGeometry): CANNON.Trimesh {
    if (!(geometry as THREE.BufferGeometry).attributes) {
        geometry = new THREE.BufferGeometry().fromGeometry(geometry as THREE.Geometry);
    }
    const vertices: number[] = <number[]>(geometry as THREE.BufferGeometry).attributes.position.array
    const indices: number[] = Object.keys(vertices).map(Number);
    return new CANNON.Trimesh(vertices, indices);
}

function CreateConvexPolyhedron(geometry: THREE.Geometry | THREE.BufferGeometry): CANNON.ConvexPolyhedron {
    if (!(geometry as THREE.Geometry).vertices) {
        geometry = new THREE.Geometry().fromBufferGeometry(geometry as THREE.BufferGeometry);
    }
    const points: CANNON.Vec3[] = (<THREE.Geometry>geometry).vertices.map(function (v) {
        return new CANNON.Vec3(v.x, v.y, v.z)
    })
    const faces: number[][] = (<THREE.Geometry>geometry).faces.map(function (f) {
        return [f.a, f.b, f.c]
    })
    return new CANNON.ConvexPolyhedron(points, faces);
}

camera.position.y = 4
camera.position.z = 4
controls.target.y = 2

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: THREE.Clock = new THREE.Clock()

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

var animate = function () {
    requestAnimationFrame(animate)

    controls.update()

    let delta = clock.getDelta()
    if (delta > .1) delta = .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.

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// 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
// - Added cylinder geometry, particle geometry and material
// - Highlight faces that the CONVEXPOLYHEDRON thinks are pointing into the shape. 

import * as THREE from '/build/three.module.js'

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.SphereGeometry
    private _boxGeometry: THREE.BoxGeometry
    private _planeGeometry: THREE.PlaneGeometry
    private _cylinderGeometry: THREE.CylinderGeometry
    private _particleGeometry: THREE.Geometry

    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.SphereGeometry(1)
        this._boxGeometry = new THREE.BoxGeometry(1, 1, 1)
        this._planeGeometry = new THREE.PlaneGeometry(10, 10, 10, 10)
        this._cylinderGeometry = new THREE.CylinderGeometry(1, 1, 10, 10)
        this._particleGeometry = new THREE.Geometry();
        this._particleGeometry.vertices.push(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++) {
                let shape = body.shapes[j]

                this._updateMesh(meshIndex, body, shape)

                let 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.Geometry | 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.Geometry
        let v0: CANNON.Vec3
        let v1: CANNON.Vec3
        let v2: CANNON.Vec3
        const material: THREE.MeshBasicMaterial = this._material;

        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.CYLINDER:
                mesh = new THREE.Mesh(this._cylinderGeometry, material)
                break

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

            case CANNON.Shape.types.CONVEXPOLYHEDRON:
                // Create mesh
                geometry = new THREE.Geometry()

                // Add vertices
                for (let i = 0; i < (shape as CANNON.ConvexPolyhedron).vertices.length; i++) {
                    const v = (shape as CANNON.ConvexPolyhedron).vertices[i];
                    geometry.vertices.push(new THREE.Vector3(v.x, v.y, v.z));
                }

                for (let i = 0; i < (shape as CANNON.ConvexPolyhedron).faces.length; i++) {
                    const face = (shape as CANNON.ConvexPolyhedron).faces[i];

                    // add triangles
                    const a = face[0]
                    for (let j = 1; j < face.length - 1; j++) {
                        const b = face[j];
                        const c = face[j + 1];
                        geometry.faces.push(new THREE.Face3(a, b, c));
                    }
                }
                geometry.computeBoundingSphere();
                geometry.computeFaceNormals();

                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:
                geometry = new THREE.Geometry();
                v0 = this.tmpVec0;
                v1 = this.tmpVec1;
                v2 = this.tmpVec2;
                for (let i = 0; i < (shape as CANNON.Trimesh).indices.length / 3; i++) {
                    (shape as CANNON.Trimesh).getTriangleVertices(i, v0, v1, v2);
                    geometry.vertices.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)
                    );
                    let j = geometry.vertices.length - 3;
                    geometry.faces.push(new THREE.Face3(j, j + 1, j + 2));
                }
                geometry.computeBoundingSphere();
                geometry.computeFaceNormals();
                mesh = new THREE.Mesh(geometry, material);
                shape.geometryId = geometry.id;
                break;

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

                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)
                            geometry.vertices.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.computeBoundingSphere()
                geometry.computeFaceNormals()
                mesh = new THREE.Mesh(geometry, material)
                shape.geometryId = geometry.id
                break;


        }

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

        return mesh;
    }

    private _scaleMesh(mesh: THREE.Mesh | THREE.Points, shape: CANNON.Shape) {
        switch (shape.type) {

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

            case CANNON.Shape.types.BOX:
                const halfExtents: CANNON.Vec3 = (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:
                const scale: CANNON.Vec3 = (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

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

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

var 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);

var 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: THREE.PerspectiveCamera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000)

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

const controls = new OrbitControls(camera, renderer.domElement)
controls.screenSpacePanning = true

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

const cubeGeometry: THREE.BoxGeometry = new THREE.BoxGeometry(1, 1, 1)
const cubeMesh: THREE.Mesh = 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(.5, .5, .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: THREE.SphereGeometry = new THREE.SphereGeometry()
const sphereMesh: THREE.Mesh = 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: THREE.CylinderGeometry = new THREE.CylinderGeometry(1, 1, 2, 8)
const cylinderMesh: THREE.Mesh = 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: THREE.IcosahedronGeometry = new THREE.IcosahedronGeometry(1, 0)
const icosahedronMesh: THREE.Mesh = 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: THREE.TorusKnotGeometry = new THREE.TorusKnotGeometry()
const torusKnotMesh: THREE.Mesh = new THREE.Mesh(torusKnotGeometry, normalMaterial)
torusKnotMesh.position.x = 4
torusKnotMesh.position.y = 3
torusKnotMesh.castShadow = true
scene.add(torusKnotMesh)
const torusKnotShape = CreateTrimesh(<THREE.Geometry>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: Boolean = 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: THREE.PlaneGeometry = new THREE.PlaneGeometry(25, 25)
const planeMesh: THREE.Mesh = new THREE.Mesh(planeGeometry, phongMaterial)
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.Geometry | THREE.BufferGeometry): CANNON.Trimesh {
    if (!(geometry as THREE.BufferGeometry).attributes) {
        geometry = new THREE.BufferGeometry().fromGeometry(geometry as THREE.Geometry);
    }
    const vertices: number[] = <number[]>(geometry as THREE.BufferGeometry).attributes.position.array
    const indices: number[] = Object.keys(vertices).map(Number);
    return new CANNON.Trimesh(vertices, indices);
}

function CreateConvexPolyhedron(geometry: THREE.Geometry | THREE.BufferGeometry): CANNON.ConvexPolyhedron {
    if (!(geometry as THREE.Geometry).vertices) {
        geometry = new THREE.Geometry().fromBufferGeometry(geometry as THREE.BufferGeometry);
    }
    const points: CANNON.Vec3[] = (<THREE.Geometry>geometry).vertices.map(function (v) {
        return new CANNON.Vec3(v.x, v.y, v.z)
    })
    const faces: number[][] = (<THREE.Geometry>geometry).faces.map(function (f) {
        return [f.a, f.b, f.c]
    })
    return new CANNON.ConvexPolyhedron(points, faces);
}

camera.position.y = 4
camera.position.z = 4
controls.target.y = 2

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: THREE.Clock = new THREE.Clock()

const cannonDebugRenderer = new CannonDebugRenderer(scene, world)

var animate = function () {
    requestAnimationFrame(animate)

    controls.update()

    let delta = clock.getDelta()
    if (delta > .1) delta = .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();

Supported Cannon.js Shape Collisions

TypeScript Module Resolution