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Demo4-rope.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<title>Demo4 - rope</title>
<style>
body {
margin: 0;
text-align: center;
}
#info {
position: absolute;
top: 0;
width: 100%;
padding: 10px;
}
</style>
<script src="js/three.js"></script>
<script src="js/libs/ammo.js"></script>
<script src="js/controls/OrbitControls.js"></script>
<script src="js/libs/stats.min.js"></script>
<script src="js/Detector.js"></script>
</head>
<body>
<div id="container"><br /><br /><br /><br /><br />Loading...</div>
<div id="info">Demo4 - 绳索<br>ZX键控制支架转动</div>
</body>
<script>
// 检测浏览器是否支持webgl
if (!Detector.webgl) {
Detector.addGetWebGLMessage();
document.getElementById('container').innerHTML = '';
}
// 全局变量
// 绘图相关变量
var container, stats;
var camera, controls, scene, renderer;
var textureLoader;
var clock = new THREE.Clock();
var terrainMesh;
// 物理引擎相关变量
var gravityConstant = -9.8;
var collisionConfiguration;
var dispatcher;
var broadphase;
var solver;
var physicsWorld;
var rigidBodies = [];
var margin = 0.05;
var transformAux1 = new Ammo.btTransform();
//
var time = 0;
// 鼠标输入相关
var mouseCoords = new THREE.Vector2();
var raycaster = new THREE.Raycaster();
var ballMaterial = new THREE.MeshPhongMaterial( { color: 0x202020 } );
var maxNumObjectss = 30;
// 绳索相关
var hinge;
var rope;
var softBodySolver;
// 支架旋转
var armMovement = 0;
// - 主程序
init();
animate();
// -函数定义
function init() {
initGraphics();
initPhysics();
createObjects();
initInput();
}
function initGraphics() {
// three.js基本场景配置
container = document.getElementById('container');
container.innerHTML = "";
camera = new THREE.PerspectiveCamera(60, window.innerWidth/window.innerHeight, 0.1, 2000);
camera.position.x = -7;
camera.position.y = 5;
camera.position.z = 8;
controls = new THREE.OrbitControls(camera);
controls.target.y = 2;
renderer = new THREE.WebGLRenderer({antialias:true});
renderer.setClearColor( 0xbfd1e5 );
renderer.setPixelRatio(window.devicePixelRatio);
renderer.setSize(window.innerWidth, window.innerHeight);
renderer.shadowMap.enabled = true;
textureLoader = new THREE.TextureLoader();
// 场景
scene = new THREE.Scene();
// 环境光
var ambientLight = new THREE.AmbientLight(0x404040);
scene.add(ambientLight);
// 线性光
var light = new THREE.DirectionalLight(0xffffff, 1);
light.position.set(-10, 10, 5);
light.castShadow = true;
var d = 10;
light.shadow.camera.left = -d;
light.shadow.camera.right = d;
light.shadow.camera.top = d;
light.shadow.camera.bottom = -d;
light.shadow.camera.near = 2;
light.shadow.camera.far = 2;
light.shadow.mapSize.x = 1024;
light.shadow.mapSize.y = 1024;
scene.add(light);
container.appendChild(renderer.domElement);
// 显示帧数
stats = new Stats();
stats.domElement.style.position = 'absolute';
stats.domElement.style.top = 'absolute';
container.appendChild(stats.domElement);
// 添加窗口大小变化监听
window.addEventListener('resize', onWindowResize, false);
}
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight;
camera.updateProjectionMatrix();
renderer.setSize( window.innerWidth, window.innerHeight );
}
function initPhysics() {
// bullet基本场景配置
// collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
/**
* 启动支持柔体的物理引擎
* config，solver和physicsWorld要用softbody版本
* 还要单独创建softBodySolver
*/
collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
broadphase = new Ammo.btDbvtBroadphase();
solver = new Ammo.btSequentialImpulseConstraintSolver();
softBodySolver = new Ammo.btDefaultSoftBodySolver();
physicsWorld = new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration, softBodySolver);
physicsWorld.setGravity(new Ammo.btVector3(0, gravityConstant, 0));
physicsWorld.getWorldInfo().set_m_gravity(new Ammo.btVector3(0, gravityConstant, 0));
}
function createObjects() {
var pos = new THREE.Vector3();
var quat = new THREE.Quaternion();
// 创建地面
pos.set(0, -0.5, 0);
quat.set(0, 0, 0, 1);
var ground = createParallellepiped(40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial({color: 0xffffff}));
ground.castShadow = true; // 开启投影
ground.receiveShadow = true; // 接受阴影(可以在表面上显示阴影)
textureLoader.load("./textures/grid.png", function (texture) {
texture.wrapS = THREE.RepeatWrapping;
texture.wrapT = THREE.RepeatWrapping;
texture.repeat.set(40, 40);
ground.material.map = texture;
ground.material.needsUpdate = texture;
});
// // 生成30个随机物体
// for (var i = 0; i < maxNumObjectss; i++) {
// pos.set(Math.random(), 2 *i, Math.random());
// quat.set(0, 0, 0, 1);
//
// createRondomObject(pos, quat, Math.ceil(Math.random() * 3));
// }
// 创建一个球
var ballMass =1.2;
var ballRadius = 0.6;
var ball = new THREE.Mesh(new THREE.SphereGeometry(ballRadius, 20, 20), new THREE.MeshPhongMaterial( { color: 0x202020 } ));
ball.castShadow = true;
ball.receiveShadow = true;
var ballShape = new Ammo.btSphereShape( ballRadius );
ballShape.setMargin( margin );
pos.set( -3, 2, 0 );
quat.set( 0, 0, 0, 1 );
createRigidBody( ball, ballShape, ballMass, pos, quat );
ball.userData.physicsBody.setFriction( 0.5 );
// 创建砖墙
var brickMass = 0.5;
var brickLength = 1.2;
var brickDepth = 0.6;
var brickHeight = brickLength * 0.5;
var numBricksLength = 6;
var numBricksHeight = 8;
var z0 = - numBricksLength * brickLength * 0.5;
pos.set( 0, brickHeight * 0.5, z0 );
quat.set( 0, 0, 0, 1 );
for ( var j = 0; j < numBricksHeight; j ++ ) {
var oddRow = ( j % 2 ) == 1;
pos.z = z0;
if ( oddRow ) {
pos.z -= 0.25 * brickLength;
}
var nRow = oddRow? numBricksLength + 1 : numBricksLength;
for ( var i = 0; i < nRow; i ++ ) {
var brickLengthCurrent = brickLength;
var brickMassCurrent = brickMass;
if ( oddRow && ( i == 0 || i == nRow - 1 ) ) {
brickLengthCurrent *= 0.5;
brickMassCurrent *= 0.5;
}
var brick = createParallellepiped( brickDepth, brickHeight, brickLengthCurrent, brickMassCurrent, pos, quat, createRendomColorObjectMeatrial() );
brick.castShadow = true;
brick.receiveShadow = true;
if ( oddRow && ( i == 0 || i == nRow - 2 ) ) {
pos.z += 0.75 * brickLength;
}
else {
pos.z += brickLength;
}
}
pos.y += brickHeight;
}
// 创建绳索
// 绳索的绘制部分
var ropeNumSegments = 10;
var ropeLength = 4;
var ropeMass = 3;
var ropePos = ball.position.clone();
ropePos.y += ballRadius;
var segmentLength = ropeLength / ropeNumSegments;
var ropeGeometry = new THREE.BufferGeometry();
var ropeMaterial = new THREE.LineBasicMaterial( { color: 0x000000 } );
var ropePositions = [];
var ropeIndices = [];
for (var i = 0; i < ropeNumSegments + 1; i++) {
ropePositions.push(ropePos.x, ropePos.y + i * segmentLength, ropePos.z);
}
for (var i = 0; i < ropeNumSegments; i++) {
ropeIndices.push(i, i+1);
}
ropeGeometry.setIndex(new THREE.BufferAttribute(new Uint16Array(ropeIndices), 1));
ropeGeometry.addAttribute('position', new THREE.BufferAttribute(new Float32Array(ropePositions), 3));
ropeGeometry.computeBoundingSphere();
rope = new THREE.LineSegments( ropeGeometry, ropeMaterial );
rope.castShadow = true;
rope.receiveShadow = true;
scene.add(rope);
// 物理空间中的绳索
var softBodyHelpers = new Ammo.btSoftBodyHelpers();
var ropeStart = new Ammo.btVector3(ropePos.x, ropePos.y, ropePos.z);
var ropeEnd = new Ammo.btVector3(ropePos.x, ropePos.y + ropeLength, ropePos.z);
var ropeSoftBody = softBodyHelpers.CreateRope(physicsWorld.getWorldInfo(), ropeStart, ropeEnd, ropeNumSegments -1, 0);
var sbConfig = ropeSoftBody.get_m_cfg();
sbConfig.set_viterations(10);
sbConfig.set_piterations(10);
ropeSoftBody.setTotalMass(ropeMass, false);
Ammo.castObject(ropeSoftBody, Ammo.btCollisionObject).getCollisionShape().setMargin(margin * 3);
physicsWorld.addSoftBody(ropeSoftBody, 1, -1);
rope.userData.physicsBody = ropeSoftBody;
// Disable deactivation
var DISABLE_DEACTIVATION = 4;
ropeSoftBody.setActivationState(DISABLE_DEACTIVATION);
// 支架
var armMass = 2;
var armLength = 3;
var pylonHeight = ropePos.y + ropeLength;
var baseMaterial = new THREE.MeshPhongMaterial( { color: 0x606060 } );
pos.set( ropePos.x, 0.1, ropePos.z - armLength );
quat.set( 0, 0, 0, 1 );
var base = createParallellepiped( 1, 0.2, 1, 0, pos, quat, baseMaterial );
base.castShadow = true;
base.receiveShadow = true;
pos.set( ropePos.x, 0.5 * pylonHeight, ropePos.z - armLength );
var pylon = createParallellepiped( 0.4, pylonHeight, 0.4, 0, pos, quat, baseMaterial );
pylon.castShadow = true;
pylon.receiveShadow = true;
pos.set( ropePos.x, pylonHeight + 0.2, ropePos.z - 0.5 * armLength );
var arm = createParallellepiped( 0.4, 0.4, armLength + 0.4, armMass, pos, quat, baseMaterial );
arm.castShadow = true;
arm.receiveShadow = true;
// 将球和支架用绳索链接
var influence = 1;
ropeSoftBody.appendAnchor(0, ball.userData.physicsBody, true, influence);
ropeSoftBody.appendAnchor( ropeNumSegments, arm.userData.physicsBody, true, influence );
// 给支架臂添加铰链约束
var pivotA = new Ammo.btVector3(0, pylonHeight * 0.5, 0);
var pivotB = new Ammo.btVector3(0, -0.2, -armLength * 0.5);
var axis = new Ammo.btVector3(0, 1, 0);
hinge = new Ammo.btHingeConstraint(pylon.userData.physicsBody, arm.userData.physicsBody, pivotA, pivotB, axis, axis, true);
physicsWorld.addConstraint(hinge, true);
}
// 生成随机形状的物体
function createRondomObject(pos, quat, objectSize) {
var numTypes = 4;
var objectType = Math.ceil( Math.random() * numTypes );
var threeObject = null;
var shape = null;
// var objectSize = 3;
switch (objectType) {
case 1:
// Sphere
var radius = 1 + Math.random() * objectSize;
threeObject = new THREE.Mesh( new THREE.SphereGeometry( radius, 20, 20 ), createRendomColorObjectMeatrial() );
shape = new Ammo.btSphereShape( radius );
shape.setMargin( margin );
break;
case 2:
// Box
var sx = 1 + Math.random() * objectSize;
var sy = 1 + Math.random() * objectSize;
var sz = 1 + Math.random() * objectSize;
threeObject = new THREE.Mesh( new THREE.BoxGeometry( sx, sy, sz, 1, 1, 1 ), createRendomColorObjectMeatrial() );
shape = new Ammo.btBoxShape( new Ammo.btVector3( sx * 0.5, sy * 0.5, sz * 0.5 ) );
shape.setMargin( margin );
break;
case 3:
// Cylinder
var radius = 1 + Math.random() * objectSize;
var height = 1 + Math.random() * objectSize;
threeObject = new THREE.Mesh( new THREE.CylinderGeometry( radius, radius, height, 20, 1 ), createRendomColorObjectMeatrial() );
shape = new Ammo.btCylinderShape( new Ammo.btVector3( radius, height * 0.5, radius ) );
shape.setMargin(margin);
break;
default:
// Cone
var radius = 1 + Math.random() * objectSize;
var height = 2 + Math.random() * objectSize;
threeObject = new THREE.Mesh( new THREE.CylinderGeometry( 0, radius, height, 20, 2 ), createRendomColorObjectMeatrial() );
shape = new Ammo.btConeShape( radius, height );
break;
}
var mass = objectSize * 5; // 体积越大质量越大
createRigidBody(threeObject, shape, mass, pos, quat);
}
// 生成随机颜色材质
function createRendomColorObjectMeatrial() {
var color = Math.floor(Math.random() * (1 << 24));
return new THREE.MeshPhongMaterial({color: color});
}
function createParallellepiped(sx, sy, sz, mass, pos, quat, material) {
var threeObject = new THREE.Mesh(new THREE.BoxGeometry(sx, sy, sz, 1, 1, 1), material);
var shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
shape.setMargin(margin);
createRigidBody(threeObject, shape, mass, pos, quat);
return threeObject;
}
function createRigidBody(threeObject, physicsShape, mass, pos, quat) {
threeObject.position.copy(pos);
threeObject.quaternion.copy(quat);
var transform = new Ammo.btTransform();
transform.setIdentity();
transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
transform.setRotation(new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w));
var motionState = new Ammo.btDefaultMotionState(transform);
var localInertia = new Ammo.btVector3(0, 0, 0);
physicsShape.calculateLocalInertia(mass, localInertia);
var rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, physicsShape, localInertia);
var body = new Ammo.btRigidBody(rbInfo);
threeObject.userData.physicsBody = body;
scene.add(threeObject);
if (mass > 0) {
rigidBodies.push(threeObject);
// Disable deactivation
// 防止物体弹力过快消失
// Ammo.DISABLE_DEACTIVATION = 4
body.setActivationState(4);
}
physicsWorld.addRigidBody(body);
return body;
}
function animate() {
requestAnimationFrame(animate);
render();
stats.update();
}
function render() {
var deltaTime = clock.getDelta();
updatePhysics(deltaTime);
controls.update(deltaTime);
renderer.render(scene, camera);
time += deltaTime;
}
function updatePhysics(deltaTime) {
physicsWorld.stepSimulation(deltaTime);
// 更新物体位置
for (var i = 0, iL = rigidBodies.length; i <iL; i++ ){
var objThree = rigidBodies[i];
var objPhys = objThree.userData.physicsBody;
var ms = objPhys.getMotionState();
if (ms) {
ms.getWorldTransform(transformAux1);
var p = transformAux1.getOrigin();
var q = transformAux1.getRotation();
objThree.position.set(p.x(), p.y(), p.z());
objThree.quaternion.set(q.x(), q.y(), q.z(), q.w());
}
}
// 更新绳索状态
var softBody = rope.userData.physicsBody;
var ropePositions = rope.geometry.attributes.position.array;
var numVerts = ropePositions.length / 3;
var nodes = softBody.get_m_nodes();
var indexFloat = 0;
for (var i = 0; i <numVerts; i++) {
var node = nodes.at(i);
var nodePos = node.get_m_x();
ropePositions[ indexFloat++ ] = nodePos.x();
ropePositions[ indexFloat++ ] = nodePos.y();
ropePositions[ indexFloat++ ] = nodePos.z();
}
rope.geometry.attributes.position.needsUpdate = true;
// ZX控制铰链转动
hinge.enableAngularMotor(true, 1.5 * armMovement, 50);
}
function initInput() {
//
// window.addEventListener( 'mousedown', function( event ) {
//
// mouseCoords.set(
// ( event.clientX / window.innerWidth ) * 2 - 1,
// - ( event.clientY / window.innerHeight ) * 2 + 1
// );
//
// raycaster.setFromCamera( mouseCoords, camera );
//
// // Creates a ball and throws it
// var ballMass = 35;
// var ballRadius = 0.4;
//
// var ball = new THREE.Mesh( new THREE.SphereGeometry( ballRadius, 14, 10 ), ballMaterial );
// ball.castShadow = true;
// ball.receiveShadow = true;
// var ballShape = new Ammo.btSphereShape( ballRadius );
// ballShape.setMargin( margin );
// var pos = new THREE.Vector3();
// var quat = new THREE.Quaternion();
// pos.copy( raycaster.ray.direction );
// pos.add( raycaster.ray.origin );
// quat.set( 0, 0, 0, 1 );
// var ballBody = createRigidBody( ball, ballShape, ballMass, pos, quat );
//
// pos.copy( raycaster.ray.direction );
// pos.multiplyScalar( 24 );
// ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
//
// }, false );
window.addEventListener( 'keydown', function( event ) {
switch ( event.code ) {
// Z
case 'KeyZ':
armMovement = 1;
break;
// X
case 'KeyX':
armMovement = - 1;
break;
}
}, false );
window.addEventListener( 'keyup', function( event ) {
armMovement = 0;
}, false );
}
</script>
</html>