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/server/server.ts
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | 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
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 | 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.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 | // 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 = new Array() 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 = new THREE.Mesh() 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
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 | 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(); |