Physics with Cannon.js

Video Lecture

Physics with Cannons.js Physics with Cannons.js Physics with Cannons.js Physics with Cannon.js

Description

Animation can also be achieved using a Physics library. I will use Cannon.js. Cannon.js is a rigid body simulation library. It can be used to make objects move and interact in a realistic way and provide collision detection possibilities.

Basic Concepts

  • Shape : A geometrical shape, such as a sphere, cube or plane, used for the the physics calculations.
  • Rigid Body : A rigid body has a shape and a number of other properties used in the calculations such as mass and inertia.
  • Constraint : A 3D body has 6 degrees of freedom, 3 for position and three to describe the rotation vector. A constraint is a limit on one of the degrees of freedom.
  • Contact constraint : A type of constraint to simulate friction and restitution. These are like the faces of an object where the constraint is applied.
  • World : A collection of bodies and constraints that interact together.
  • Solver : The algorithm that is passed over the bodies and constraints to calculate there physical properties and adjust them accordingly.

Collision Detection

Collision detection algorithms determine what pairs of objects may be colliding. Collision detection is a computationally expensive process, so various methods can be used to simplify the collision detection.

  • Narrowphase : Outright body vs body collision detection. This is the most computationally expensive.
  • Broadphase : Is a compromise on Narrowphase where various techniques can be used to improve collision detection performance.

Cannonjs provides several options for broadphase detection.

Phase Description
NaiveBroadphase Default. The NaiveBroadphase looks at all possible pairs without restriction, therefore it has complexity N^2. It is similar to the Narrowphase technique, except it decides first whether objects are close enough before checking if there bodies touch. NaiveBroadphase is the default and is suitable for the most common use cases, but becomes less performant if there are many objects in the physics world.
SAPBroadphase The Sweep and Prune algorithm sorts bodies along an axis and then moves down that list finding pairs by looking at body size and position of the next bodies. For best performance, choose an axis that the bodies are spread out more on. Set to 0 for X axis, and 1 for Y axis. Default axisIndex is 0 (X axis).
GridBroadphase Axis aligned uniform grid broadphase. Divides space into a grid of cells. Bodies are placed into the cells they overlap and bodies in the same cell are paired. GridBroadphase needs to know the size of the space ahead of time. Set number of cells when you create the object. Default number of cells is X = 10, Y = 10, Z = 10.

Iterations

The Solver algorithms decide what force to add to bodies in contact. The solver is iterative, which means that it solves the equations incrementally on each animation pass. It will get closer to the solution for each iteration during the loop. A number too low for the solver iterations will result in increasingly inaccurate contact forces, which can appear as jittering or vibrations on the object, and a higher number will increase precision and stability, but also compromise performance.

The default solver iterations is 10.

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world.solver.iterations = 10;

Supported Cannon.js Shape Collisions

. Box Sphere Cylinder Plane Convex Trimesh
Box ✔ ✔ ✔ ✔ ✔ ❌
Sphere ✔ ✔ ✔ ✔ ✔ ✔
Cylinder ✔ ✔ ✔ ✔ ✔ ❌
Plane ✔ ✔ ✔ ❌ ✔ ✔
Convex ✔ ✔ ✔ ✔ ✔ ❌
Trimesh ❌ ✔ ❌ ✔ ❌ ❌

Setup

Install cannonjs

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npm install cannon

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('/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'

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 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 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 torusKnotPoints = (<THREE.Geometry>torusKnotMesh.geometry).vertices.map(function (v) {
//     return new CANNON.Vec3(v.x, v.y, v.z)
// })
// const torusKnotFaces = (<THREE.Geometry>torusKnotMesh.geometry).faces.map(function (f) {
//     return [f.a, f.b, f.c]
// })
// const torusKnotShape = new CANNON.ConvexPolyhedron(torusKnotPoints, torusKnotFaces)
// 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)

// function CreateTrimesh(geometry){
//     if (!geometry.attributes) {
//         geometry = new THREE.BufferGeometry().fromGeometry(geometry);
//     }
//     const vertices = geometry.attributes.position.array
//     const indices = Object.keys(vertices).map(Number);
//     return new CANNON.Trimesh(vertices, indices);
// }

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)

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()

var animate = function () {
    requestAnimationFrame(animate)

    controls.update()

    // let delta = clock.getDelta()
    // if (delta > .1) delta = .1
    // world.step(delta)

    // 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);
    // 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);

    render()

    stats.update()
};

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

./src/typings/cannon/index.d.ts

Create a new folder called ./src/typings/cannon/ and add the TypeScript definition file below for cannon.js and name it index.d.ts

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// Type definitions for cannon 0.1
// Project: https://github.com/clark-stevenson/cannon.d.ts
// Definitions by: Clark Stevenson <https://github.com/clark-stevenson>
//                 Grzegorz Rozdzialik <https://github.com/Gelio>
//                 Sean Bradley <https://sbcode.net/threejs/>
// Definitions: https://github.com/DefinitelyTyped/DefinitelyTyped


declare module CANNON {

    export interface IAABBOptions {

        upperBound?: Vec3;
        lowerBound?: Vec3;

    }

    export class AABB {

        lowerBound: Vec3;
        upperBound: Vec3;

        constructor(options?: IAABBOptions);

        clone(): AABB;
        copy(aabb: AABB): void;
        extend(aabb: AABB): void;
        getCorners(a: Vec3, b: Vec3, c: Vec3, d: Vec3, e: Vec3, f: Vec3, g: Vec3, h: Vec3): void;
        overlaps(aabb: AABB): boolean;
        setFromPoints(points: Vec3[], position?: Vec3, quaternion?: Quaternion, skinSize?: number): AABB;
        toLocalFrame(frame: Transform, target: AABB): AABB;
        toWorldFrame(frame: Transform, target: AABB): AABB;

    }

    export class ArrayCollisionMatrix {

        matrix: Mat3[];

        get(i: number, j: number): number;
        set(i: number, j: number, value: number): void;
        reset(): void;
        setNumObjects(n: number): void;

    }

    export class BroadPhase {

        world: World;
        useBoundingBoxes: boolean;
        dirty: boolean;

        collisionPairs(world: World, p1: Body[], p2: Body[]): void;
        needBroadphaseCollision(bodyA: Body, bodyB: Body): boolean;
        intersectionTest(bodyA: Body, bodyB: Body, pairs1: Body[], pairs2: Body[]): void;
        doBoundingSphereBroadphase(bodyA: Body, bodyB: Body, pairs1: Body[], pairs2: Body[]): void;
        doBoundingBoxBroadphase(bodyA: Body, bodyB: Body, pairs1: Body[], pairs2: Body[]): void;
        makePairsUnique(pairs1: Body[], pairs2: Body[]): void;
        setWorld(world: World): void;
        boundingSphereCheck(bodyA: Body, bodyB: Body): boolean;
        aabbQuery(world: World, aabb: AABB, result: Body[]): Body[];

    }

    export class GridBroadphase extends BroadPhase {

        nx: number;
        ny: number;
        nz: number;
        aabbMin: Vec3;
        aabbMax: Vec3;
        bins: any[];

        constructor(aabbMin?: Vec3, aabbMax?: Vec3, nx?: number, ny?: number, nz?: number);

    }

    export class NaiveBroadphase extends BroadPhase {
    }

    export class ObjectCollisionMatrix {

        matrix: number[];

        get(i: number, j: number): number;
        set(i: number, j: number, value: number): void;
        reset(): void;
        setNumObjects(n: number): void;

    }

    export class Ray {

        from: Vec3;
        to: Vec3;
        precision: number;
        checkCollisionResponse: boolean;

        constructor(from?: Vec3, to?: Vec3);

        getAABB(result: RaycastResult): void;

    }

    export class RaycastResult {

        rayFromWorld: Vec3;
        rayToWorld: Vec3;
        hitNormalWorld: Vec3;
        hitPointWorld: Vec3;
        hasHit: boolean;
        shape: Shape;
        body: Body;
        distance: number;

        reset(): void;
        set(rayFromWorld: Vec3, rayToWorld: Vec3, hitNormalWorld: Vec3, hitPointWorld: Vec3, shape: Shape, body: Body, distance: number): void;

    }

    export class SAPBroadphase extends BroadPhase {

        static insertionSortX(a: any[]): any[];
        static insertionSortY(a: any[]): any[];
        static insertionSortZ(a: any[]): any[];
        static checkBounds(bi: Body, bj: Body, axisIndex?: number): boolean;

        axisList: any[];
        world: World;
        axisIndex: number;

        constructor(world?: World);

        autoDetectAxis(): void;
        aabbQuery(world: World, aabb: AABB, result?: Body[]): Body[];

    }

    export interface IConstraintOptions {

        collideConnected?: boolean;
        wakeUpBodies?: boolean;

    }

    export class Constraint {

        equations: any[];
        bodyA: Body;
        bodyB: Body;
        id: number;
        collideConnected: boolean;

        constructor(bodyA: Body, bodyB: Body, options?: IConstraintOptions);

        update(): void;
        disable(): void;
        enable(): void;

    }

    export class DistanceConstraint extends Constraint {

        constructor(bodyA: Body, bodyB: Body, distance: number, maxForce?: number);

    }

    export interface IHingeConstraintOptions {

        pivotA?: Vec3;
        axisA?: Vec3;
        pivotB?: Vec3;
        axisB?: Vec3;
        maxForce?: number;

    }

    export class HingeConstraint extends Constraint {

        motorEnabled: boolean;
        motorTargetVelocity: number;
        motorMinForce: number;
        motorMaxForce: number;
        motorEquation: RotationalMotorEquation;
        axisA: Vec3;
        axisB: Vec3;

        constructor(bodyA: Body, bodyB: Body, options?: IHingeConstraintOptions);

        enableMotor(): void;
        disableMotor(): void;
        setMotorSpeed(speed: number): void;

    }

    export class PointToPointConstraint extends Constraint {

        constructor(bodyA: Body, pivotA: Vec3, bodyB: Body, pivotB: Vec3, maxForce?: number);

    }

    export interface ILockConstraintOptions {
        maxForce?: number;
    }

    export class LockConstraint extends Constraint {
        constructor(bodyA: Body, bodyB: Body, options?: ILockConstraintOptions);
    }

    export interface IConeTwistConstraintOptions {
        pivotA?: Vec3;
        pivotB?: Vec3;
        axisA?: Vec3;
        axisB?: Vec3;
        maxForce?: number;
    }

    export class ConeTwistConstraint extends Constraint {
        constructor(bodyA: Body, bodyB: Body, options?: IConeTwistConstraintOptions);
    }



    export class Equation {

        id: number;
        minForce: number;
        maxForce: number;
        bi: Body;
        bj: Body;
        a: number;
        b: number;
        eps: number;
        jacobianElementA: JacobianElement;
        jacobianElementB: JacobianElement;
        enabled: boolean;

        constructor(bi: Body, bj: Body, minForce?: number, maxForce?: number);

        setSpookParams(stiffness: number, relaxation: number, timeStep: number): void;
        computeB(a: number, b: number, h: number): number;
        computeGq(): number;
        computeGW(): number;
        computeGWlamda(): number;
        computeGiMf(): number;
        computeGiMGt(): number;
        addToWlamda(deltalambda: number): number;
        computeC(): number;

    }

    export class FrictionEquation extends Equation {

        constructor(bi: Body, bj: Body, slipForce: number);

    }

    export class RotationalEquation extends Equation {

        ni: Vec3;
        nj: Vec3;
        nixnj: Vec3;
        njxni: Vec3;
        invIi: Mat3;
        invIj: Mat3;
        relVel: Vec3;
        relForce: Vec3;

        constructor(bodyA: Body, bodyB: Body);

    }

    export class RotationalMotorEquation extends Equation {

        axisA: Vec3;
        axisB: Vec3;
        invLi: Mat3;
        invIj: Mat3;
        targetVelocity: number;

        constructor(bodyA: Body, bodyB: Body, maxForce?: number);

    }

    export class ContactEquation extends Equation {

        restitution: number;
        ri: Vec3;
        rj: Vec3;
        penetrationVec: Vec3;
        ni: Vec3;
        rixn: Vec3;
        rjxn: Vec3;
        invIi: Mat3;
        invIj: Mat3;
        biInvInertiaTimesRixn: Vec3;
        bjInvInertiaTimesRjxn: Vec3;

        constructor(bi: Body, bj: Body);

    }

    export interface IContactMaterialOptions {

        friction?: number;
        restitution?: number;
        contactEquationStiffness?: number;
        contactEquationRelaxation?: number;
        frictionEquationStiffness?: number;
        frictionEquationRelaxation?: number;

    }

    export class ContactMaterial {

        id: number;
        materials: Material[];
        friction: number;
        restitution: number;
        contactEquationStiffness: number;
        contactEquationRelaxation: number;
        frictionEquationStiffness: number;
        frictionEquationRelaxation: number;

        constructor(m1: Material, m2: Material, options?: IContactMaterialOptions);

    }

    export class Material {

        name: string;
        id: number;
        friction: number;
        restitution: number;

        constructor(name: string);

    }

    export class JacobianElement {

        spatial: Vec3;
        rotational: Vec3;

        multiplyElement(element: JacobianElement): number;
        multiplyVectors(spacial: Vec3, rotational: Vec3): number;

    }

    export class Mat3 {

        constructor(elements?: number[]);

        identity(): void;
        setZero(): void;
        setTrace(vec3: Vec3): void;
        getTrace(target: Vec3): void;
        vmult(v: Vec3, target?: Vec3): Vec3;
        smult(s: number): void;
        mmult(m: Mat3): Mat3;
        scale(v: Vec3, target?: Mat3): Mat3;
        solve(b: Vec3, target?: Vec3): Vec3;
        e(row: number, column: number, value?: number): number;
        copy(source: Mat3): Mat3;
        toString(): string;
        reverse(target?: Mat3): Mat3;
        setRotationFromQuaternion(q: Quaternion): Mat3;
        transpose(target?: Mat3): Mat3;

    }

    export class Quaternion {

        x: number;
        y: number;
        z: number;
        w: number;

        constructor(x?: number, y?: number, z?: number, w?: number);

        set(x: number, y: number, z: number, w: number): void;
        toString(): string;
        toArray(): number[];
        setFromAxisAngle(axis: Vec3, angle: number): void;
        toAxisAngle(targetAxis?: Vec3): any[];
        setFromVectors(u: Vec3, v: Vec3): void;
        mult(q: Quaternion, target?: Quaternion): Quaternion;
        inverse(target?: Quaternion): Quaternion;
        conjugate(target?: Quaternion): Quaternion;
        normalize(): void;
        normalizeFast(): void;
        vmult(v: Vec3, target?: Vec3): Vec3;
        copy(source: Quaternion): Quaternion;
        toEuler(target: Vec3, order?: string): void;
        setFromEuler(x: number, y: number, z: number, order?: string): Quaternion;
        clone(): Quaternion;

    }

    export class Transform {

        static pointToLocalFrame(position: Vec3, quaternion: Quaternion, worldPoint: Vec3, result?: Vec3): Vec3;
        static pointToWorldFrame(position: Vec3, quaternion: Quaternion, localPoint: Vec3, result?: Vec3): Vec3;

        position: Vec3;
        quaternion: Quaternion;

        vectorToWorldFrame(localVector: Vec3, result?: Vec3): Vec3;
        vectorToLocalFrame(position: Vec3, quaternion: Quaternion, worldVector: Vec3, result?: Vec3): Vec3;

    }

    export class Vec3 {

        static ZERO: Vec3;

        x: number;
        y: number;
        z: number;

        constructor(x?: number, y?: number, z?: number);

        cross(v: Vec3, target?: Vec3): Vec3;
        set(x: number, y: number, z: number): Vec3;
        setZero(): void;
        vadd(v: Vec3, target?: Vec3): Vec3;
        vsub(v: Vec3, target?: Vec3): Vec3;
        crossmat(): Mat3;
        normalize(): number;
        unit(target?: Vec3): Vec3;
        norm(): number;
        norm2(): number;
        distanceTo(p: Vec3): number;
        mult(scalar: number, target?: Vec3): Vec3;
        scale(scalar: number, target?: Vec3): Vec3;
        dot(v: Vec3): number;
        isZero(): boolean;
        negate(target?: Vec3): Vec3;
        tangents(t1: Vec3, t2: Vec3): void;
        toString(): string;
        toArray(): number[];
        copy(source: Vec3): Vec3;
        lerp(v: Vec3, t: number, target?: Vec3): void;
        almostEquals(v: Vec3, precision?: number): boolean;
        almostZero(precision?: number): boolean;
        isAntiparallelTo(v: Vec3, prescision?: number): boolean;
        clone(): Vec3;

    }

    export interface IBodyOptions {
        position?: Vec3;
        velocity?: Vec3;
        angularVelocity?: Vec3;
        quaternion?: Quaternion;
        mass?: number;
        material?: Material;
        type?: number;
        linearDamping?: number;
        angularDamping?: number;
        allowSleep?: boolean;
        sleepSpeedLimit?: number;
        sleepTimeLimit?: number;
        collisionFilterGroup?: number;
        collisionFilterMask?: number;
        fixedRotation?: boolean;
        shape?: Shape;
    }

    export class Body extends EventTarget {

        static DYNAMIC: number;
        static STATIC: number;
        static KINEMATIC: number;
        static AWAKE: number;
        static SLEEPY: number;
        static SLEEPING: number;
        static sleepyEvent: IEvent;
        static sleepEvent: IEvent;

        id: number;
        world: World;
        preStep: Function;
        postStep: Function;
        vlambda: Vec3;
        collisionFilterGroup: number;
        collisionFilterMask: number;
        collisionResponse: boolean;
        position: Vec3;
        previousPosition: Vec3;
        initPosition: Vec3;
        velocity: Vec3;
        initVelocity: Vec3;
        force: Vec3;
        mass: number;
        invMass: number;
        material: Material;
        linearDamping: number;
        type: number;
        allowSleep: boolean;
        sleepState: number;
        sleepSpeedLimit: number;
        sleepTimeLimit: number;
        timeLastSleepy: number;
        torque: Vec3;
        quaternion: Quaternion;
        initQuaternion: Quaternion;
        angularVelocity: Vec3;
        initAngularVelocity: Vec3;
        interpolatedPosition: Vec3;
        interpolatedQuaternion: Quaternion;
        shapes: Shape[];
        shapeOffsets: any[];
        shapeOrientations: any[];
        inertia: Vec3;
        invInertia: Vec3;
        invInertiaWorld: Mat3;
        invMassSolve: number;
        invInertiaSolve: Vec3;
        invInteriaWorldSolve: Mat3;
        fixedRotation: boolean;
        angularDamping: number;
        aabb: AABB;
        aabbNeedsUpdate: boolean;
        wlambda: Vec3;

        constructor(options?: IBodyOptions);

        wakeUp(): void;
        sleep(): void;
        sleepTick(time: number): void;
        updateSolveMassProperties(): void;
        pointToLocalFrame(worldPoint: Vec3, result?: Vec3): Vec3;
        pointToWorldFrame(localPoint: Vec3, result?: Vec3): Vec3;
        vectorToWorldFrame(localVector: Vec3, result?: Vec3): Vec3;
        addShape(shape: Shape, offset?: Vec3, orientation?: Quaternion): void;
        updateBoundingRadius(): void;
        computeAABB(): void;
        updateInertiaWorld(force: Vec3): void;
        applyForce(force: Vec3, worldPoint: Vec3): void;
        applyImpulse(impulse: Vec3, worldPoint: Vec3): void;
        applyLocalForce(force: Vec3, localPoint: Vec3): void;
        applyLocalImpulse(impulse: Vec3, localPoint: Vec3): void;
        updateMassProperties(): void;
        getVelocityAtWorldPoint(worldPoint: Vec3, result: Vec3): Vec3;

    }

    export interface IRaycastVehicleOptions {

        chassisBody?: Body;
        indexRightAxis?: number;
        indexLeftAxis?: number;
        indexUpAxis?: number;

    }

    export interface IWheelInfoOptions {

        chassisConnectionPointLocal?: Vec3;
        chassisConnectionPointWorld?: Vec3;
        directionLocal?: Vec3;
        directionWorld?: Vec3;
        axleLocal?: Vec3;
        axleWorld?: Vec3;
        suspensionRestLength?: number;
        suspensionMaxLength?: number;
        radius?: number;
        suspensionStiffness?: number;
        dampingCompression?: number;
        dampingRelaxation?: number;
        frictionSlip?: number;
        steering?: number;
        rotation?: number;
        deltaRotation?: number;
        rollInfluence?: number;
        maxSuspensionForce?: number;
        isFronmtWheel?: boolean;
        clippedInvContactDotSuspension?: number;
        suspensionRelativeVelocity?: number;
        suspensionForce?: number;
        skidInfo?: number;
        suspensionLength?: number;
        maxSuspensionTravel?: number;
        useCustomSlidingRotationalSpeed?: boolean;
        customSlidingRotationalSpeed?: number;

        position?: Vec3;
        direction?: Vec3;
        axis?: Vec3;
        body?: Body;

    }

    export class WheelInfo {

        maxSuspensionTravbel: number;
        customSlidingRotationalSpeed: number;
        useCustomSlidingRotationalSpeed: boolean;
        sliding: boolean;
        chassisConnectionPointLocal: Vec3;
        chassisConnectionPointWorld: Vec3;
        directionLocal: Vec3;
        directionWorld: Vec3;
        axleLocal: Vec3;
        axleWorld: Vec3;
        suspensionRestLength: number;
        suspensionMaxLength: number;
        radius: number;
        suspensionStiffness: number;
        dampingCompression: number;
        dampingRelaxation: number;
        frictionSlip: number;
        steering: number;
        rotation: number;
        deltaRotation: number;
        rollInfluence: number;
        maxSuspensionForce: number;
        engineForce: number;
        brake: number;
        isFrontWheel: boolean;
        clippedInvContactDotSuspension: number;
        suspensionRelativeVelocity: number;
        suspensionForce: number;
        skidInfo: number;
        suspensionLength: number;
        sideImpulse: number;
        forwardImpulse: number;
        raycastResult: RaycastResult;
        worldTransform: Transform;
        isInContact: boolean;

        constructor(options?: IWheelInfoOptions);

    }

    export class RaycastVehicle {

        chassisBody: Body;
        wheelInfos: IWheelInfoOptions[];
        sliding: boolean;
        world: World;
        iindexRightAxis: number;
        indexForwardAxis: number;
        indexUpAxis: number;

        constructor(options?: IRaycastVehicleOptions);

        addWheel(options?: IWheelInfoOptions): void;
        setSteeringValue(value: number, wheelIndex: number): void;
        applyEngineForce(value: number, wheelIndex: number): void;
        setBrake(brake: number, wheelIndex: number): void;
        addToWorld(world: World): void;
        getVehicleAxisWorld(axisIndex: number, result: Vec3): Vec3;
        updateVehicle(timeStep: number): void;
        updateSuspension(deltaTime: number): void;
        removeFromWorld(world: World): void;
        getWheelTransformWorld(wheelIndex: number): Transform;

    }

    export interface IRigidVehicleOptions {

        chassisBody: Body;

    }

    export class RigidVehicle {

        wheelBodies: Body[];
        coordinateSystem: Vec3;
        chassisBody: Body;
        constraints: Constraint[];
        wheelAxes: Vec3[];
        wheelForces: Vec3[];

        constructor(options?: IRigidVehicleOptions);

        addWheel(options?: IWheelInfoOptions): Body;
        setSteeringValue(value: number, wheelIndex: number): void;
        setMotorSpeed(value: number, wheelIndex: number): void;
        disableMotor(wheelIndex: number): void;
        setWheelForce(value: number, wheelIndex: number): void;
        applyWheelForce(value: number, wheelIndex: number): void;
        addToWorld(world: World): void;
        removeFromWorld(world: World): void;
        getWheelSpeed(wheelIndex: number): number;

    }

    export class SPHSystem {

        particles: Particle[];
        density: number;
        smoothingRadius: number;
        speedOfSound: number;
        viscosity: number;
        eps: number;
        pressures: number[];
        densities: number[];
        neighbors: number[];

        add(particle: Particle): void;
        remove(particle: Particle): void;
        getNeighbors(particle: Particle, neighbors: Particle[]): void;
        update(): void;
        w(r: number): number;
        gradw(rVec: Vec3, resultVec: Vec3): void;
        nablaw(r: number): number;

    }

    export interface ISpringOptions {

        restLength?: number;
        stiffness?: number;
        damping?: number;
        worldAnchorA?: Vec3;
        worldAnchorB?: Vec3;
        localAnchorA?: Vec3;
        localAnchorB?: Vec3;

    }

    export class Spring {

        restLength: number;
        stffness: number;
        damping: number;
        bodyA: Body;
        bodyB: Body;
        localAnchorA: Vec3;
        localAnchorB: Vec3;

        constructor(options?: ISpringOptions);

        setWorldAnchorA(worldAnchorA: Vec3): void;
        setWorldAnchorB(worldAnchorB: Vec3): void;
        getWorldAnchorA(result: Vec3): void;
        getWorldAnchorB(result: Vec3): void;
        applyForce(): void;

    }

    export class Box extends Shape {

        static calculateIntertia(halfExtents: Vec3, mass: number, target: Vec3): void;

        boundingSphereRadius: number;
        collisionResponse: boolean;
        halfExtents: Vec3;
        convexPolyhedronRepresentation: ConvexPolyhedron;

        constructor(halfExtents: Vec3);

        updateConvexPolyhedronRepresentation(): void;
        calculateLocalInertia(mass: number, target?: Vec3): Vec3;
        getSideNormals(sixTargetVectors: boolean, quat?: Quaternion): Vec3[];
        updateBoundingSphereRadius(): number;
        volume(): number;
        forEachWorldCorner(pos: Vec3, quat: Quaternion, callback: Function): void;

    }

    export class ConvexPolyhedron extends Shape {

        static computeNormal(va: Vec3, vb: Vec3, vc: Vec3, target: Vec3): void;
        static project(hull: ConvexPolyhedron, axis: Vec3, pos: Vec3, quat: Quaternion, result: number[]): void;

        vertices: Vec3[];
        worldVertices: Vec3[];
        worldVerticesNeedsUpdate: boolean;
        faces: number[][];
        faceNormals: Vec3[];
        uniqueEdges: Vec3[];

        constructor(points?: Vec3[], faces?: number[][]);

        computeEdges(): void;
        computeNormals(): void;
        getFaceNormal(i: number, target: Vec3): Vec3;
        clipAgainstHull(posA: Vec3, quatA: Quaternion, hullB: Vec3, quatB: Quaternion, separatingNormal: Vec3, minDist: number, maxDist: number, result: any[]): void;
        findSaparatingAxis(hullB: ConvexPolyhedron, posA: Vec3, quatA: Quaternion, posB: Vec3, quatB: Quaternion, target: Vec3, faceListA: any[], faceListB: any[]): boolean;
        testSepAxis(axis: Vec3, hullB: ConvexPolyhedron, posA: Vec3, quatA: Quaternion, posB: Vec3, quatB: Quaternion): number;
        getPlaneConstantOfFace(face_i: number): number;
        clipFaceAgainstHull(separatingNormal: Vec3, posA: Vec3, quatA: Quaternion, worldVertsB1: Vec3[], minDist: number, maxDist: number, result: any[]): void;
        clipFaceAgainstPlane(inVertices: Vec3[], outVertices: Vec3[], planeNormal: Vec3, planeConstant: number): Vec3;
        computeWorldVertices(position: Vec3, quat: Quaternion): void;
        computeLocalAABB(aabbmin: Vec3, aabbmax: Vec3): void;
        computeWorldFaceNormals(quat: Quaternion): void;
        calculateWorldAABB(pos: Vec3, quat: Quaternion, min: Vec3, max: Vec3): void;
        getAveragePointLocal(target: Vec3): Vec3;
        transformAllPoints(offset: Vec3, quat: Quaternion): void;
        pointIsInside(p: Vec3): boolean;

    }

    export class Cylinder extends Shape {

        constructor(radiusTop: number, radiusBottom: number, height: number, numSegments: number);

    }

    export interface IHightfield {

        minValue?: number;
        maxValue?: number;
        elementSize: number;

    }

    export class Heightfield extends Shape {

        data: number[][];
        maxValue: number;
        minValue: number;
        elementSize: number;
        cacheEnabled: boolean;
        pillarConvex: ConvexPolyhedron;
        pillarOffset: Vec3;
        type: number;

        constructor(data: number[], options?: IHightfield);

        update(): void;
        updateMinValue(): void;
        updateMaxValue(): void;
        setHeightValueAtIndex(xi: number, yi: number, value: number): void;
        getRectMinMax(iMinX: number, iMinY: number, iMaxX: number, iMaxY: number, result: any[]): void;
        getIndexOfPosition(x: number, y: number, result: any[], clamp: boolean): boolean;
        getConvexTrianglePillar(xi: number, yi: number, getUpperTriangle: boolean): void;

    }

    export class Particle extends Shape {

    }

    export class Plane extends Shape {

        worldNormal: Vec3;
        worldNormalNeedsUpdate: boolean;
        boundingSphereRadius: number;

        computeWorldNormal(quat: Quaternion): void;
        calculateWorldAABB(pos: Vec3, quat: Quaternion, min: number, max: number): void;

    }

    export class Trimesh extends Shape {

        vertices: number[]
        indices: number[]
        scale: Vec3

        constructor(vertices: number[], indices: number[]);

        updateTree(): void;
        getTrianglesInAABB(aabb: AABB, result: []): [];
        setScale(scale: Vec3): void
        updateNormals(): void;
        updateEdges(): void;
        getEdgeVertex(edgeIndex: number, firstOrSecond: number, vertexStore: Vec3): void;
        getEdgeVector(edgeIndex: number, vectorStore: Vec3): void;
        static computeNormal(va: Vec3, vb: Vec3, vc: Vec3, target: Vec3): void;
        getVertex(i: number, out: Vec3): Vec3;
        getWorldVertex(i: number, pos: Vec3, quat: Quaternion, out: Vec3): Vec3;
        getTriangleVertices(i: number, a: Vec3, b: Vec3, c: Vec3): void;
        getNormal(i: number, target: Vec3): Vec3;
        calculateLocalInertia(mass: number, target: Vec3): Vec3;
        computeLocalAABB(aabb: Vec3): void;
        updateAABB(): void;
        updateBoundingSphereRadius(): number;
        calculateWorldAABB(pos: Vec3, quat: Quaternion, min: number, max: number): void;
        volume(): number;
        createTorus(radius: number, tube: number, radialSegments: number, tubularSegments: number, arc: number): Trimesh;
    }

    export class Shape {

        static types: {

            SPHERE: number;
            PLANE: number;
            BOX: number;
            COMPOUND: number;
            CONVEXPOLYHEDRON: number;
            HEIGHTFIELD: number;
            PARTICLE: number;
            CYLINDER: number;
            TRIMESH: number;
        }

        type: number;
        boundingSphereRadius: number;
        collisionResponse: boolean;
        geometryId: number;

        updateBoundingSphereRadius(): number;
        volume(): number;
        calculateLocalInertia(mass: number, target: Vec3): Vec3;

    }

    export class Sphere extends Shape {

        radius: number;

        constructor(radius: number);

    }

    export class GSSolver extends Solver {

        iterations: number;
        tolerance: number;

        solve(dy: number, world: World): number;


    }

    export class Solver {
        iterations: number;
        equations: Equation[];

        solve(dy: number, world: World): number;
        addEquation(eq: Equation): void;
        removeEquation(eq: Equation): void;
        removeAllEquations(): void;

    }

    export class SplitSolver extends Solver {

        subsolver: Solver;

        constructor(subsolver: Solver);

        solve(dy: number, world: World): number;

    }

    export class EventTarget {

        addEventListener(type: string, listener: Function): EventTarget;
        hasEventListener(type: string, listener: Function): boolean;
        removeEventListener(type: string, listener: Function): EventTarget;
        dispatchEvent(event: IEvent): IEvent;

    }

    export class Pool {

        objects: any[];
        type: any[];

        release(): any;
        get(): any;
        constructObject(): any;

    }

    export class TupleDictionary {

        data: {
            keys: any[];
        };

        get(i: number, j: number): number;
        set(i: number, j: number, value: number): void;
        reset(): void;

    }

    export class Utils {

        static defaults(options?: any, defaults?: any): any;

    }

    export class Vec3Pool extends Pool {

        type: any;

        constructObject(): Vec3;

    }

    export class NarrowPhase {

        contactPointPool: Pool[];
        v3pool: Vec3Pool;

    }

    export class World extends EventTarget {
        iterations: number;
        dt: number;
        allowSleep: boolean;
        contacts: ContactEquation[];
        frictionEquations: FrictionEquation[];
        quatNormalizeSkip: number;
        quatNormalizeFast: boolean;
        time: number;
        stepnumber: number;
        default_dt: number;
        nextId: number;
        gravity: Vec3;
        broadphase: NaiveBroadphase;
        bodies: Body[];
        solver: Solver;
        constraints: Constraint[];
        narrowPhase: NarrowPhase;
        collisionMatrix: ArrayCollisionMatrix;
        collisionMatrixPrevious: ArrayCollisionMatrix;
        materials: Material[];
        contactmaterials: ContactMaterial[];
        contactMaterialTable: TupleDictionary;
        defaultMaterial: Material;
        defaultContactMaterial: ContactMaterial;
        doProfiling: boolean;
        profile: {
            solve: number;
            makeContactConstraints: number;
            broadphaser: number;
            integrate: number;
            narrowphase: number;
        };
        subsystems: any[];
        addBodyEvent: IBodyEvent;
        removeBodyEvent: IBodyEvent;

        getContactMaterial(m1: Material, m2: Material): ContactMaterial;
        numObjects(): number;
        collisionMatrixTick(): void;
        addBody(body: Body): void;
        addConstraint(c: Constraint): void;
        removeConstraint(c: Constraint): void;
        rayTest(from: Vec3, to: Vec3, result: RaycastResult): void;
        remove(body: Body): void;
        addMaterial(m: Material): void;
        addContactMaterial(cmat: ContactMaterial): void;
        step(dy: number, timeSinceLastCalled?: number, maxSubSteps?: number): void;

    }

    export interface IEvent {

        type: string;

    }

    export interface IBodyEvent extends IEvent {

        body: Body;

    }

    export interface ICollisionEvent extends IBodyEvent {
        contact: any;
        target: any;
    }

}


declare module "cannon" {
    export = CANNON;
}

./src/client/tsconfig.json

Update the compiler options paths to point to the new cannon.js typescript definition file.

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{

    "compilerOptions": {
        "target": "ES6",
        "module": "ES6",
        "outDir": "../../dist/client",
        "baseUrl": ".",
        "paths": {
            "/build/three.module.js": ["../../node_modules/three/src/Three"],
            "/jsm/*": ["../../node_modules/three/examples/jsm/*"],
            "/jsm/libs/dat.gui.module": ["../typings/dat.gui"],
            "/jsm/libs/tween.module.min": ["../typings/tween.js"],            
            "/cannon/cannon.min": ["../typings/cannon"]
        },
        "moduleResolution": "node"
    },
    "include": [
        "**/*.ts"
    ]

}

Final Scripts

./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'

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 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 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 torusKnotPoints = (<THREE.Geometry>torusKnotMesh.geometry).vertices.map(function (v) {
//     return new CANNON.Vec3(v.x, v.y, v.z)
// })
// const torusKnotFaces = (<THREE.Geometry>torusKnotMesh.geometry).faces.map(function (f) {
//     return [f.a, f.b, f.c]
// })
// const torusKnotShape = new CANNON.ConvexPolyhedron(torusKnotPoints, torusKnotFaces)
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)

function CreateTrimesh(geometry: THREE.Geometry | THREE.BufferGeometry) {
    if (!(geometry as THREE.BufferGeometry).attributes) {
        geometry = new THREE.BufferGeometry().fromGeometry(geometry as THREE.Geometry);
    }
    const vertices = (geometry as THREE.BufferGeometry).attributes.position.array
    const indices = Object.keys(vertices).map(Number);
    return new CANNON.Trimesh(vertices as [], indices);
}

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)

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()

var animate = function () {
    requestAnimationFrame(animate)

    controls.update()

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

    // 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);
    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);

    render()

    stats.update()
};

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

Cannon.js GitHub

Cannon.js Parameter Tweaking

International System of Units