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ThreeJsLesson
Commit 6e17550e authored by Master Q's avatar Master Q
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README.md
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......@@ -3,4 +3,6 @@ dev
```javascript
yarn add webpack webpack-cli webpack-dev-server typescript three @types/three ts-loa
der
```
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```
6077
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libs/ammo.d.ts 0 → 100644
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// export default Ammo;
// declare function Ammo<T>(target?: T): Promise<T & typeof Ammo>;
declare namespace Ammo {
function destroy(obj: any): void;
function _malloc(size: number): number;
function _free(ptr: number): void;
const HEAP8: Int8Array;
const HEAP16: Int16Array;
const HEAP32: Int32Array;
const HEAPU8: Uint8Array;
const HEAPU16: Uint16Array;
const HEAPU32: Uint32Array;
const HEAPF32: Float32Array;
const HEAPF64: Float64Array;
class btIDebugDraw {
drawLine(from: btVector3, to: btVector3, color: btVector3): void;
drawContactPoint(pointOnB: btVector3, normalOnB: btVector3, distance: number, lifeTime: number, color: btVector3): void;
reportErrorWarning(warningString: string): void;
draw3dText(location: btVector3, textString: string): void;
setDebugMode(debugMode: number): void;
getDebugMode(): number;
}
class DebugDrawer {
constructor();
drawLine(from: btVector3, to: btVector3, color: btVector3): void;
drawContactPoint(pointOnB: btVector3, normalOnB: btVector3, distance: number, lifeTime: number, color: btVector3): void;
reportErrorWarning(warningString: string): void;
draw3dText(location: btVector3, textString: string): void;
setDebugMode(debugMode: number): void;
getDebugMode(): number;
}
class btVector3 {
constructor();
constructor(x: number, y: number, z: number);
length(): number;
x(): number;
y(): number;
z(): number;
setX(x: number): void;
setY(y: number): void;
setZ(z: number): void;
setValue(x: number, y: number, z: number): void;
normalize(): void;
rotate(wAxis: btVector3, angle: number): btVector3;
dot(v: btVector3): number;
op_mul(x: number): btVector3;
op_add(v: btVector3): btVector3;
op_sub(v: btVector3): btVector3;
}
class btVector4 extends btVector3 {
constructor();
constructor(x: number, y: number, z: number, w: number);
w(): number;
setValue(x: number, y: number, z: number): void;
setValue(x: number, y: number, z: number, w: number): void;
}
class btQuadWord {
x(): number;
y(): number;
z(): number;
w(): number;
setX(x: number): void;
setY(y: number): void;
setZ(z: number): void;
setW(w: number): void;
}
class btQuaternion extends btQuadWord {
constructor(x: number, y: number, z: number, w: number);
setValue(x: number, y: number, z: number, w: number): void;
setEulerZYX(z: number, y: number, x: number): void;
setRotation(axis: btVector3, angle: number): void;
normalize(): void;
length2(): number;
length(): number;
dot(q: btQuaternion): number;
normalized(): btQuaternion;
getAxis(): btVector3;
inverse(): btQuaternion;
getAngle(): number;
getAngleShortestPath(): number;
angle(q: btQuaternion): number;
angleShortestPath(q: btQuaternion): number;
op_add(q: btQuaternion): btQuaternion;
op_sub(q: btQuaternion): btQuaternion;
op_mul(s: number): btQuaternion;
op_mulq(q: btQuaternion): btQuaternion;
op_div(s: number): btQuaternion;
}
class btMatrix3x3 {
setEulerZYX(ex: number, ey: number, ez: number): void;
getRotation(q: btQuaternion): void;
getRow(y: number): btVector3;
}
class btTransform {
constructor();
constructor(q: btQuaternion, v: btVector3);
setIdentity(): void;
setOrigin(origin: btVector3): void;
setRotation(rotation: btQuaternion): void;
getOrigin(): btVector3;
getRotation(): btQuaternion;
getBasis(): btMatrix3x3;
setFromOpenGLMatrix(m: ReadonlyArray<number>): void;
inverse(): btTransform;
op_mul(t: btTransform): btTransform;
}
class btMotionState {
getWorldTransform(worldTrans: btTransform): void;
setWorldTransform(worldTrans: btTransform): void;
}
class btDefaultMotionState extends btMotionState {
constructor(startTrans?: btTransform, centerOfMassOffset?: btTransform);
get_m_graphicsWorldTrans(): btTransform;
set_m_graphicsWorldTrans(m_graphicsWorldTrans: btTransform): void;
}
class btCollisionObject {
setAnisotropicFriction(anisotropicFriction: btVector3, frictionMode: number): void;
getCollisionShape(): btCollisionShape;
setContactProcessingThreshold(contactProcessingThreshold: number): void;
setActivationState(newState: number): void;
forceActivationState(newState: number): void;
activate(forceActivation?: boolean): void;
isActive(): boolean;
isKinematicObject(): boolean;
isStaticObject(): boolean;
isStaticOrKinematicObject(): boolean;
getRestitution(): number;
getFriction(): number;
getRollingFriction(): number;
setRestitution(rest: number): void;
setFriction(frict: number): void;
setRollingFriction(frict: number): void;
getWorldTransform(): btTransform;
getCollisionFlags(): number;
setCollisionFlags(flags: number): void;
setWorldTransform(worldTrans: btTransform): void;
setCollisionShape(collisionShape: btCollisionShape): void;
setCcdMotionThreshold(ccdMotionThreshold: number): void;
setCcdSweptSphereRadius(radius: number): void;
getUserIndex(): number;
setUserIndex(index: number): void;
getUserPointer(): unknown;
setUserPointer(userPointer: unknown): void;
getBroadphaseHandle(): btBroadphaseProxy;
}
class btCollisionObjectWrapper {
getWorldTransform(): btTransform;
getCollisionObject(): btCollisionObject;
getCollisionShape(): btCollisionShape;
}
class RayResultCallback {
hasHit(): boolean;
get_m_collisionFilterGroup(): number;
set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
get_m_collisionFilterMask(): number;
set_m_collisionFilterMask(m_collisionFilterMask: number): void;
get_m_closestHitFraction(): number;
set_m_closestHitFraction(m_closestHitFraction: number): void;
get_m_collisionObject(): btCollisionObject;
set_m_collisionObject(m_collisionObject: btCollisionObject): void;
}
class ClosestRayResultCallback extends RayResultCallback {
constructor(from: btVector3, to: btVector3);
get_m_rayFromWorld(): btVector3;
set_m_rayFromWorld(m_rayFromWorld: btVector3): void;
get_m_rayToWorld(): btVector3;
set_m_rayToWorld(m_rayToWorld: btVector3): void;
get_m_hitNormalWorld(): btVector3;
set_m_hitNormalWorld(m_hitNormalWorld: btVector3): void;
get_m_hitPointWorld(): btVector3;
set_m_hitPointWorld(m_hitPointWorld: btVector3): void;
}
class btConstCollisionObjectArray {
size(): number;
at(n: number): btCollisionObject;
}
class btScalarArray {
size(): number;
at(n: number): number;
}
class AllHitsRayResultCallback extends RayResultCallback {
constructor(from: btVector3, to: btVector3);
get_m_collisionObjects(): btConstCollisionObjectArray;
set_m_collisionObjects(m_collisionObjects: btConstCollisionObjectArray): void;
get_m_rayFromWorld(): btVector3;
set_m_rayFromWorld(m_rayFromWorld: btVector3): void;
get_m_rayToWorld(): btVector3;
set_m_rayToWorld(m_rayToWorld: btVector3): void;
get_m_hitNormalWorld(): btVector3Array;
set_m_hitNormalWorld(m_hitNormalWorld: btVector3Array): void;
get_m_hitPointWorld(): btVector3Array;
set_m_hitPointWorld(m_hitPointWorld: btVector3Array): void;
get_m_hitFractions(): btScalarArray;
set_m_hitFractions(m_hitFractions: btScalarArray): void;
}
class btManifoldPoint {
getPositionWorldOnA(): btVector3;
getPositionWorldOnB(): btVector3;
getAppliedImpulse(): number;
getDistance(): number;
get_m_localPointA(): btVector3;
set_m_localPointA(m_localPointA: btVector3): void;
get_m_localPointB(): btVector3;
set_m_localPointB(m_localPointB: btVector3): void;
get_m_positionWorldOnB(): btVector3;
set_m_positionWorldOnB(m_positionWorldOnB: btVector3): void;
get_m_positionWorldOnA(): btVector3;
set_m_positionWorldOnA(m_positionWorldOnA: btVector3): void;
get_m_normalWorldOnB(): btVector3;
set_m_normalWorldOnB(m_normalWorldOnB: btVector3): void;
get_m_userPersistentData(): any;
set_m_userPersistentData(m_userPersistentData: any): void;
}
class ContactResultCallback {
addSingleResult(cp: btManifoldPoint, colObj0Wrap: btCollisionObjectWrapper, partId0: number, index0: number, colObj1Wrap: btCollisionObjectWrapper, partId1: number, index1: number): number;
}
class ConcreteContactResultCallback {
constructor();
addSingleResult(cp: btManifoldPoint, colObj0Wrap: btCollisionObjectWrapper, partId0: number, index0: number, colObj1Wrap: btCollisionObjectWrapper, partId1: number, index1: number): number;
}
class LocalShapeInfo {
get_m_shapePart(): number;
set_m_shapePart(m_shapePart: number): void;
get_m_triangleIndex(): number;
set_m_triangleIndex(m_triangleIndex: number): void;
}
class LocalConvexResult {
constructor(hitCollisionObject: btCollisionObject, localShapeInfo: LocalShapeInfo, hitNormalLocal: btVector3, hitPointLocal: btVector3, hitFraction: number);
get_m_hitCollisionObject(): btCollisionObject;
set_m_hitCollisionObject(m_hitCollisionObject: btCollisionObject): void;
get_m_localShapeInfo(): LocalShapeInfo;
set_m_localShapeInfo(m_localShapeInfo: LocalShapeInfo): void;
get_m_hitNormalLocal(): btVector3;
set_m_hitNormalLocal(m_hitNormalLocal: btVector3): void;
get_m_hitPointLocal(): btVector3;
set_m_hitPointLocal(m_hitPointLocal: btVector3): void;
get_m_hitFraction(): number;
set_m_hitFraction(m_hitFraction: number): void;
}
class ConvexResultCallback {
hasHit(): boolean;
get_m_collisionFilterGroup(): number;
set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
get_m_collisionFilterMask(): number;
set_m_collisionFilterMask(m_collisionFilterMask: number): void;
get_m_closestHitFraction(): number;
set_m_closestHitFraction(m_closestHitFraction: number): void;
}
class ClosestConvexResultCallback extends ConvexResultCallback {
constructor(convexFromWorld: btVector3, convexToWorld: btVector3);
get_m_convexFromWorld(): btVector3;
set_m_convexFromWorld(m_convexFromWorld: btVector3): void;
get_m_convexToWorld(): btVector3;
set_m_convexToWorld(m_convexToWorld: btVector3): void;
get_m_hitNormalWorld(): btVector3;
set_m_hitNormalWorld(m_hitNormalWorld: btVector3): void;
get_m_hitPointWorld(): btVector3;
set_m_hitPointWorld(m_hitPointWorld: btVector3): void;
}
class btCollisionShape {
setLocalScaling(scaling: btVector3): void;
getLocalScaling(): btVector3;
calculateLocalInertia(mass: number, inertia: btVector3): void;
setMargin(margin: number): void;
getMargin(): number;
}
class btConvexShape extends btCollisionShape {
}
class btConvexTriangleMeshShape extends btConvexShape {
constructor(meshInterface: btStridingMeshInterface, calcAabb?: boolean);
}
class btBoxShape extends btCollisionShape {
constructor(boxHalfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btCapsuleShape extends btCollisionShape {
constructor(radius: number, height: number);
setMargin(margin: number): void;
getMargin(): number;
getUpAxis(): number;
getRadius(): number;
getHalfHeight(): number;
}
class btCapsuleShapeX extends btCapsuleShape {
constructor(radius: number, height: number);
setMargin(margin: number): void;
getMargin(): number;
}
class btCapsuleShapeZ extends btCapsuleShape {
constructor(radius: number, height: number);
setMargin(margin: number): void;
getMargin(): number;
}
class btCylinderShape extends btCollisionShape {
constructor(halfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btCylinderShapeX extends btCylinderShape {
constructor(halfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btCylinderShapeZ extends btCylinderShape {
constructor(halfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btSphereShape extends btCollisionShape {
constructor(radius: number);
setMargin(margin: number): void;
getMargin(): number;
}
class btMultiSphereShape extends btCollisionShape {
constructor(positions: btVector3, radii: ReadonlyArray<number>, numPoints: number);
}
class btConeShape extends btCollisionShape {
constructor(radius: number, height: number);
}
class btConeShapeX extends btConeShape {
constructor(radius: number, height: number);
}
class btConeShapeZ extends btConeShape {
constructor(radius: number, height: number);
}
class btIntArray {
size(): number;
at(n: number): number;
}
class btFace {
get_m_indices(): btIntArray;
set_m_indices(m_indices: btIntArray): void;
get_m_plane(): ReadonlyArray<number>;
set_m_plane(m_plane: ReadonlyArray<number>): void;
}
class btVector3Array {
size(): number;
at(n: number): btVector3;
}
class btFaceArray {
size(): number;
at(n: number): btFace;
}
class btConvexPolyhedron {
get_m_vertices(): btVector3Array;
set_m_vertices(m_vertices: btVector3Array): void;
get_m_faces(): btFaceArray;
set_m_faces(m_faces: btFaceArray): void;
}
class btConvexHullShape extends btCollisionShape {
constructor(points?: ReadonlyArray<number>, numPoints?: number);
addPoint(point: btVector3, recalculateLocalAABB?: boolean): void;
setMargin(margin: number): void;
getMargin(): number;
getNumVertices(): number;
initializePolyhedralFeatures(shiftVerticesByMargin: number): boolean;
recalcLocalAabb(): void;
getConvexPolyhedron(): btConvexPolyhedron;
}
class btShapeHull {
constructor(shape: btConvexShape);
buildHull(margin: number): boolean;
numVertices(): number;
getVertexPointer(): btVector3;
}
class btCompoundShape extends btCollisionShape {
constructor(enableDynamicAabbTree?: boolean);
addChildShape(localTransform: btTransform, shape: btCollisionShape): void;
removeChildShape(shape: btCollisionShape): void;
removeChildShapeByIndex(childShapeindex: number): void;
getNumChildShapes(): number;
getChildShape(index: number): btCollisionShape;
updateChildTransform(childIndex: number, newChildTransform: btTransform, shouldRecalculateLocalAabb?: boolean): void;
setMargin(margin: number): void;
getMargin(): number;
}
class btStridingMeshInterface {
setScaling(scaling: btVector3): void;
}
class btIndexedMesh {
get_m_numTriangles(): number;
set_m_numTriangles(m_numTriangles: number): void;
}
class btIndexedMeshArray {
size(): number;
at(n: number): btIndexedMesh;
}
class btTriangleMesh extends btStridingMeshInterface {
constructor(use32bitIndices?: boolean, use4componentVertices?: boolean);
addTriangle(vertex0: btVector3, vertex1: btVector3, vertex2: btVector3, removeDuplicateVertices?: boolean): void;
findOrAddVertex(vertex: btVector3, removeDuplicateVertices: boolean): number;
addIndex(index: number): void;
getIndexedMeshArray(): btIndexedMeshArray;
}
type PHY_ScalarType = "PHY_FLOAT" | "PHY_DOUBLE" | "PHY_INTEGER" | "PHY_SHORT" | "PHY_FIXEDPOINT88" | "PHY_UCHAR";
class btConcaveShape extends btCollisionShape {
}
class btEmptyShape extends btConcaveShape {
constructor();
}
class btStaticPlaneShape extends btConcaveShape {
constructor(planeNormal: btVector3, planeConstant: number);
}
class btTriangleMeshShape extends btConcaveShape {
}
class btBvhTriangleMeshShape extends btTriangleMeshShape {
constructor(meshInterface: btStridingMeshInterface, useQuantizedAabbCompression: boolean, buildBvh?: boolean);
}
class btHeightfieldTerrainShape extends btConcaveShape {
constructor(heightStickWidth: number, heightStickLength: number, heightfieldData: unknown, heightScale: number, minHeight: number, maxHeight: number, upAxis: number, hdt: PHY_ScalarType, flipQuadEdges: boolean);
setMargin(margin: number): void;
getMargin(): number;
}
class btDefaultCollisionConstructionInfo {
constructor();
}
class btDefaultCollisionConfiguration {
constructor(info?: btDefaultCollisionConstructionInfo);
}
class btPersistentManifold {
constructor();
getBody0(): btCollisionObject;
getBody1(): btCollisionObject;
getNumContacts(): number;
getContactPoint(index: number): btManifoldPoint;
}
class btDispatcher {
getNumManifolds(): number;
getManifoldByIndexInternal(index: number): btPersistentManifold;
}
class btCollisionDispatcher extends btDispatcher {
constructor(conf: btDefaultCollisionConfiguration);
}
class btOverlappingPairCallback {
}
class btOverlappingPairCache {
setInternalGhostPairCallback(ghostPairCallback: btOverlappingPairCallback): void;
getNumOverlappingPairs(): number;
}
class btAxisSweep3 {
constructor(worldAabbMin: btVector3, worldAabbMax: btVector3, maxHandles?: number, pairCache?: btOverlappingPairCache, disableRaycastAccelerator?: boolean);
}
class btBroadphaseInterface {
getOverlappingPairCache(): btOverlappingPairCache;
}
class btCollisionConfiguration {
}
class btDbvtBroadphase extends btBroadphaseInterface {
constructor();
}
class btBroadphaseProxy {
get_m_collisionFilterGroup(): number;
set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
get_m_collisionFilterMask(): number;
set_m_collisionFilterMask(m_collisionFilterMask: number): void;
}
class btRigidBodyConstructionInfo {
constructor(mass: number, motionState: btMotionState, collisionShape: btCollisionShape, localInertia?: btVector3);
get_m_linearDamping(): number;
set_m_linearDamping(m_linearDamping: number): void;
get_m_angularDamping(): number;
set_m_angularDamping(m_angularDamping: number): void;
get_m_friction(): number;
set_m_friction(m_friction: number): void;
get_m_rollingFriction(): number;
set_m_rollingFriction(m_rollingFriction: number): void;
get_m_restitution(): number;
set_m_restitution(m_restitution: number): void;
get_m_linearSleepingThreshold(): number;
set_m_linearSleepingThreshold(m_linearSleepingThreshold: number): void;
get_m_angularSleepingThreshold(): number;
set_m_angularSleepingThreshold(m_angularSleepingThreshold: number): void;
get_m_additionalDamping(): boolean;
set_m_additionalDamping(m_additionalDamping: boolean): void;
get_m_additionalDampingFactor(): number;
set_m_additionalDampingFactor(m_additionalDampingFactor: number): void;
get_m_additionalLinearDampingThresholdSqr(): number;
set_m_additionalLinearDampingThresholdSqr(m_additionalLinearDampingThresholdSqr: number): void;
get_m_additionalAngularDampingThresholdSqr(): number;
set_m_additionalAngularDampingThresholdSqr(m_additionalAngularDampingThresholdSqr: number): void;
get_m_additionalAngularDampingFactor(): number;
set_m_additionalAngularDampingFactor(m_additionalAngularDampingFactor: number): void;
}
class btRigidBody extends btCollisionObject {
constructor(constructionInfo: btRigidBodyConstructionInfo);
getCenterOfMassTransform(): btTransform;
setCenterOfMassTransform(xform: btTransform): void;
setSleepingThresholds(linear: number, angular: number): void;
getLinearDamping(): number;
getAngularDamping(): number;
setDamping(lin_damping: number, ang_damping: number): void;
setMassProps(mass: number, inertia: btVector3): void;
getLinearFactor(): btVector3;
setLinearFactor(linearFactor: btVector3): void;
applyTorque(torque: btVector3): void;
applyLocalTorque(torque: btVector3): void;
applyForce(force: btVector3, rel_pos: btVector3): void;
applyCentralForce(force: btVector3): void;
applyCentralLocalForce(force: btVector3): void;
applyTorqueImpulse(torque: btVector3): void;
applyImpulse(impulse: btVector3, rel_pos: btVector3): void;
applyCentralImpulse(impulse: btVector3): void;
updateInertiaTensor(): void;
getLinearVelocity(): btVector3;
getAngularVelocity(): btVector3;
setLinearVelocity(lin_vel: btVector3): void;
setAngularVelocity(ang_vel: btVector3): void;
getMotionState(): btMotionState;
setMotionState(motionState: btMotionState): void;
getAngularFactor(): btVector3;
setAngularFactor(angularFactor: btVector3): void;
upcast(colObj: btCollisionObject): btRigidBody;
getAabb(aabbMin: btVector3, aabbMax: btVector3): void;
applyGravity(): void;
getGravity(): btVector3;
setGravity(acceleration: btVector3): void;
getBroadphaseProxy(): btBroadphaseProxy;
clearForces(): void;
}
class btConstraintSetting {
constructor();
get_m_tau(): number;
set_m_tau(m_tau: number): void;
get_m_damping(): number;
set_m_damping(m_damping: number): void;
get_m_impulseClamp(): number;
set_m_impulseClamp(m_impulseClamp: number): void;
}
class btTypedConstraint {
enableFeedback(needsFeedback: boolean): void;
getBreakingImpulseThreshold(): number;
setBreakingImpulseThreshold(threshold: number): void;
getParam(num: number, axis: number): number;
setParam(num: number, value: number, axis: number): void;
}
type btConstraintParams = "BT_CONSTRAINT_ERP" | "BT_CONSTRAINT_STOP_ERP" | "BT_CONSTRAINT_CFM" | "BT_CONSTRAINT_STOP_CFM";
class btPoint2PointConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, pivotInA: btVector3, pivotInB: btVector3);
constructor(rbA: btRigidBody, pivotInA: btVector3);
setPivotA(pivotA: btVector3): void;
setPivotB(pivotB: btVector3): void;
getPivotInA(): btVector3;
getPivotInB(): btVector3;
get_m_setting(): btConstraintSetting;
set_m_setting(m_setting: btConstraintSetting): void;
}
class btGeneric6DofConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform, useLinearFrameReferenceFrameA: boolean);
constructor(rbB: btRigidBody, frameInB: btTransform, useLinearFrameReferenceFrameB: boolean);
setLinearLowerLimit(linearLower: btVector3): void;
setLinearUpperLimit(linearUpper: btVector3): void;
setAngularLowerLimit(angularLower: btVector3): void;
setAngularUpperLimit(angularUpper: btVector3): void;
getFrameOffsetA(): btTransform;
}
class btGeneric6DofSpringConstraint extends btGeneric6DofConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform, useLinearFrameReferenceFrameA: boolean);
constructor(rbB: btRigidBody, frameInB: btTransform, useLinearFrameReferenceFrameB: boolean);
enableSpring(index: number, onOff: boolean): void;
setStiffness(index: number, stiffness: number): void;
setDamping(index: number, damping: number): void;
setEquilibriumPoint(index: number, val: number): void;
setEquilibriumPoint(index: number): void;
setEquilibriumPoint(): void;
}
class btSequentialImpulseConstraintSolver {
constructor();
}
class btConeTwistConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, rbAFrame: btTransform, rbBFrame: btTransform);
constructor(rbA: btRigidBody, rbAFrame: btTransform);
setLimit(limitIndex: number, limitValue: number): void;
setAngularOnly(angularOnly: boolean): void;
setDamping(damping: number): void;
enableMotor(b: boolean): void;
setMaxMotorImpulse(maxMotorImpulse: number): void;
setMaxMotorImpulseNormalized(maxMotorImpulse: number): void;
setMotorTarget(q: btQuaternion): void;
setMotorTargetInConstraintSpace(q: btQuaternion): void;
}
class btHingeConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, pivotInA: btVector3, pivotInB: btVector3, axisInA: btVector3, axisInB: btVector3, useReferenceFrameA?: boolean);
constructor(rbA: btRigidBody, rbB: btRigidBody, rbAFrame: btTransform, rbBFrame: btTransform, useReferenceFrameA?: boolean);
constructor(rbA: btRigidBody, rbAFrame: btTransform, useReferenceFrameA?: boolean);
setLimit(low: number, high: number, softness: number, biasFactor: number, relaxationFactor?: number): void;
enableAngularMotor(enableMotor: boolean, targetVelocity: number, maxMotorImpulse: number): void;
setAngularOnly(angularOnly: boolean): void;
enableMotor(enableMotor: boolean): void;
setMaxMotorImpulse(maxMotorImpulse: number): void;
setMotorTarget(targetAngle: number, dt: number): void;
}
class btSliderConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform, useLinearReferenceFrameA: boolean);
constructor(rbB: btRigidBody, frameInB: btTransform, useLinearReferenceFrameA: boolean);
setLowerLinLimit(lowerLimit: number): void;
setUpperLinLimit(upperLimit: number): void;
setLowerAngLimit(lowerAngLimit: number): void;
setUpperAngLimit(upperAngLimit: number): void;
}
class btFixedConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform);
}
class btConstraintSolver {
}
class btDispatcherInfo {
get_m_timeStep(): number;
set_m_timeStep(m_timeStep: number): void;
get_m_stepCount(): number;
set_m_stepCount(m_stepCount: number): void;
get_m_dispatchFunc(): number;
set_m_dispatchFunc(m_dispatchFunc: number): void;
get_m_timeOfImpact(): number;
set_m_timeOfImpact(m_timeOfImpact: number): void;
get_m_useContinuous(): boolean;
set_m_useContinuous(m_useContinuous: boolean): void;
get_m_enableSatConvex(): boolean;
set_m_enableSatConvex(m_enableSatConvex: boolean): void;
get_m_enableSPU(): boolean;
set_m_enableSPU(m_enableSPU: boolean): void;
get_m_useEpa(): boolean;
set_m_useEpa(m_useEpa: boolean): void;
get_m_allowedCcdPenetration(): number;
set_m_allowedCcdPenetration(m_allowedCcdPenetration: number): void;
get_m_useConvexConservativeDistanceUtil(): boolean;
set_m_useConvexConservativeDistanceUtil(m_useConvexConservativeDistanceUtil: boolean): void;
get_m_convexConservativeDistanceThreshold(): number;
set_m_convexConservativeDistanceThreshold(m_convexConservativeDistanceThreshold: number): void;
}
class btCollisionWorld {
getDispatcher(): btDispatcher;
rayTest(rayFromWorld: btVector3, rayToWorld: btVector3, resultCallback: RayResultCallback): void;
getPairCache(): btOverlappingPairCache;
getDispatchInfo(): btDispatcherInfo;
addCollisionObject(collisionObject: btCollisionObject, collisionFilterGroup?: number, collisionFilterMask?: number): void;
removeCollisionObject(collisionObject: btCollisionObject): void;
getBroadphase(): btBroadphaseInterface;
convexSweepTest(castShape: btConvexShape, from: btTransform, to: btTransform, resultCallback: ConvexResultCallback, allowedCcdPenetration: number): void;
contactPairTest(colObjA: btCollisionObject, colObjB: btCollisionObject, resultCallback: ContactResultCallback): void;
contactTest(colObj: btCollisionObject, resultCallback: ContactResultCallback): void;
updateSingleAabb(colObj: btCollisionObject): void;
setDebugDrawer(debugDrawer: btIDebugDraw): void;
getDebugDrawer(): btIDebugDraw;
debugDrawWorld(): void;
debugDrawObject(worldTransform: btTransform, shape: btCollisionShape, color: btVector3): void;
}
class btContactSolverInfo {
get_m_splitImpulse(): boolean;
set_m_splitImpulse(m_splitImpulse: boolean): void;
get_m_splitImpulsePenetrationThreshold(): number;
set_m_splitImpulsePenetrationThreshold(m_splitImpulsePenetrationThreshold: number): void;
get_m_numIterations(): number;
set_m_numIterations(m_numIterations: number): void;
}
type btInternalTickCallback = (world: btDynamicsWorld, timeStep: number) => void;
class btDynamicsWorld extends btCollisionWorld {
addAction(action: btActionInterface): void;
removeAction(action: btActionInterface): void;
getSolverInfo(): btContactSolverInfo;
setInternalTickCallback(cb: btInternalTickCallback, worldUserInfo?: unknown, isPreTick?: boolean): void;
}
class btDiscreteDynamicsWorld extends btDynamicsWorld {
constructor(dispatcher: btDispatcher, pairCache: btBroadphaseInterface, constraintSolver: btConstraintSolver, collisionConfiguration: btCollisionConfiguration);
setGravity(gravity: btVector3): void;
getGravity(): btVector3;
addRigidBody(body: btRigidBody): void;
addRigidBody(body: btRigidBody, group: number, mask: number): void;
removeRigidBody(body: btRigidBody): void;
addConstraint(constraint: btTypedConstraint, disableCollisionsBetweenLinkedBodies?: boolean): void;
removeConstraint(constraint: btTypedConstraint): void;
stepSimulation(timeStep: number, maxSubSteps?: number, fixedTimeStep?: number): number;
setContactAddedCallback(funcpointer: number): void;
setContactProcessedCallback(funcpointer: number): void;
setContactDestroyedCallback(funcpointer: number): void;
}
class btVehicleTuning {
constructor();
get_m_suspensionStiffness(): number;
set_m_suspensionStiffness(m_suspensionStiffness: number): void;
get_m_suspensionCompression(): number;
set_m_suspensionCompression(m_suspensionCompression: number): void;
get_m_suspensionDamping(): number;
set_m_suspensionDamping(m_suspensionDamping: number): void;
get_m_maxSuspensionTravelCm(): number;
set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
get_m_frictionSlip(): number;
set_m_frictionSlip(m_frictionSlip: number): void;
get_m_maxSuspensionForce(): number;
set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
}
class btVehicleRaycasterResult {
get_m_hitPointInWorld(): btVector3;
set_m_hitPointInWorld(m_hitPointInWorld: btVector3): void;
get_m_hitNormalInWorld(): btVector3;
set_m_hitNormalInWorld(m_hitNormalInWorld: btVector3): void;
get_m_distFraction(): number;
set_m_distFraction(m_distFraction: number): void;
}
class btVehicleRaycaster {
castRay(from: btVector3, to: btVector3, result: btVehicleRaycasterResult): void;
}
class btDefaultVehicleRaycaster extends btVehicleRaycaster {
constructor(world: btDynamicsWorld);
}
class RaycastInfo {
get_m_contactNormalWS(): btVector3;
set_m_contactNormalWS(m_contactNormalWS: btVector3): void;
get_m_contactPointWS(): btVector3;
set_m_contactPointWS(m_contactPointWS: btVector3): void;
get_m_suspensionLength(): number;
set_m_suspensionLength(m_suspensionLength: number): void;
get_m_hardPointWS(): btVector3;
set_m_hardPointWS(m_hardPointWS: btVector3): void;
get_m_wheelDirectionWS(): btVector3;
set_m_wheelDirectionWS(m_wheelDirectionWS: btVector3): void;
get_m_wheelAxleWS(): btVector3;
set_m_wheelAxleWS(m_wheelAxleWS: btVector3): void;
get_m_isInContact(): boolean;
set_m_isInContact(m_isInContact: boolean): void;
get_m_groundObject(): any;
set_m_groundObject(m_groundObject: any): void;
}
class btWheelInfoConstructionInfo {
get_m_chassisConnectionCS(): btVector3;
set_m_chassisConnectionCS(m_chassisConnectionCS: btVector3): void;
get_m_wheelDirectionCS(): btVector3;
set_m_wheelDirectionCS(m_wheelDirectionCS: btVector3): void;
get_m_wheelAxleCS(): btVector3;
set_m_wheelAxleCS(m_wheelAxleCS: btVector3): void;
get_m_suspensionRestLength(): number;
set_m_suspensionRestLength(m_suspensionRestLength: number): void;
get_m_maxSuspensionTravelCm(): number;
set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
get_m_wheelRadius(): number;
set_m_wheelRadius(m_wheelRadius: number): void;
get_m_suspensionStiffness(): number;
set_m_suspensionStiffness(m_suspensionStiffness: number): void;
get_m_wheelsDampingCompression(): number;
set_m_wheelsDampingCompression(m_wheelsDampingCompression: number): void;
get_m_wheelsDampingRelaxation(): number;
set_m_wheelsDampingRelaxation(m_wheelsDampingRelaxation: number): void;
get_m_frictionSlip(): number;
set_m_frictionSlip(m_frictionSlip: number): void;
get_m_maxSuspensionForce(): number;
set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
get_m_bIsFrontWheel(): boolean;
set_m_bIsFrontWheel(m_bIsFrontWheel: boolean): void;
}
class btWheelInfo {
get_m_suspensionStiffness(): number;
set_m_suspensionStiffness(m_suspensionStiffness: number): void;
get_m_frictionSlip(): number;
set_m_frictionSlip(m_frictionSlip: number): void;
get_m_engineForce(): number;
set_m_engineForce(m_engineForce: number): void;
get_m_rollInfluence(): number;
set_m_rollInfluence(m_rollInfluence: number): void;
get_m_suspensionRestLength1(): number;
set_m_suspensionRestLength1(m_suspensionRestLength1: number): void;
get_m_wheelsRadius(): number;
set_m_wheelsRadius(m_wheelsRadius: number): void;
get_m_wheelsDampingCompression(): number;
set_m_wheelsDampingCompression(m_wheelsDampingCompression: number): void;
get_m_wheelsDampingRelaxation(): number;
set_m_wheelsDampingRelaxation(m_wheelsDampingRelaxation: number): void;
get_m_steering(): number;
set_m_steering(m_steering: number): void;
get_m_maxSuspensionForce(): number;
set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
get_m_maxSuspensionTravelCm(): number;
set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
get_m_wheelsSuspensionForce(): number;
set_m_wheelsSuspensionForce(m_wheelsSuspensionForce: number): void;
get_m_bIsFrontWheel(): boolean;
set_m_bIsFrontWheel(m_bIsFrontWheel: boolean): void;
get_m_raycastInfo(): RaycastInfo;
set_m_raycastInfo(m_raycastInfo: RaycastInfo): void;
get_m_chassisConnectionPointCS(): btVector3;
set_m_chassisConnectionPointCS(m_chassisConnectionPointCS: btVector3): void;
constructor(ci: btWheelInfoConstructionInfo);
getSuspensionRestLength(): number;
updateWheel(chassis: btRigidBody, raycastInfo: RaycastInfo): void;
get_m_worldTransform(): btTransform;
set_m_worldTransform(m_worldTransform: btTransform): void;
get_m_wheelDirectionCS(): btVector3;
set_m_wheelDirectionCS(m_wheelDirectionCS: btVector3): void;
get_m_wheelAxleCS(): btVector3;
set_m_wheelAxleCS(m_wheelAxleCS: btVector3): void;
get_m_rotation(): number;
set_m_rotation(m_rotation: number): void;
get_m_deltaRotation(): number;
set_m_deltaRotation(m_deltaRotation: number): void;
get_m_brake(): number;
set_m_brake(m_brake: number): void;
get_m_clippedInvContactDotSuspension(): number;
set_m_clippedInvContactDotSuspension(m_clippedInvContactDotSuspension: number): void;
get_m_suspensionRelativeVelocity(): number;
set_m_suspensionRelativeVelocity(m_suspensionRelativeVelocity: number): void;
get_m_skidInfo(): number;
set_m_skidInfo(m_skidInfo: number): void;
}
class btActionInterface {
updateAction(collisionWorld: btCollisionWorld, deltaTimeStep: number): void;
}
class btKinematicCharacterController extends btActionInterface {
constructor(ghostObject: btPairCachingGhostObject, convexShape: btConvexShape, stepHeight: number, upAxis?: number);
setUpAxis(axis: number): void;
setWalkDirection(walkDirection: btVector3): void;
setVelocityForTimeInterval(velocity: btVector3, timeInterval: number): void;
warp(origin: btVector3): void;
preStep(collisionWorld: btCollisionWorld): void;
playerStep(collisionWorld: btCollisionWorld, dt: number): void;
setFallSpeed(fallSpeed: number): void;
setJumpSpeed(jumpSpeed: number): void;
setMaxJumpHeight(maxJumpHeight: number): void;
canJump(): boolean;
jump(): void;
setGravity(gravity: number): void;
getGravity(): number;
setMaxSlope(slopeRadians: number): void;
getMaxSlope(): number;
getGhostObject(): btPairCachingGhostObject;
setUseGhostSweepTest(useGhostObjectSweepTest: boolean): void;
onGround(): boolean;
setUpInterpolate(value: boolean): void;
}
class btRaycastVehicle extends btActionInterface {
constructor(tuning: btVehicleTuning, chassis: btRigidBody, raycaster: btVehicleRaycaster);
applyEngineForce(force: number, wheel: number): void;
setSteeringValue(steering: number, wheel: number): void;
getWheelTransformWS(wheelIndex: number): btTransform;
updateWheelTransform(wheelIndex: number, interpolatedTransform: boolean): void;
addWheel(connectionPointCS0: btVector3, wheelDirectionCS0: btVector3, wheelAxleCS: btVector3, suspensionRestLength: number, wheelRadius: number, tuning: btVehicleTuning, isFrontWheel: boolean): btWheelInfo;
getNumWheels(): number;
getRigidBody(): btRigidBody;
getWheelInfo(index: number): btWheelInfo;
setBrake(brake: number, wheelIndex: number): void;
setCoordinateSystem(rightIndex: number, upIndex: number, forwardIndex: number): void;
getCurrentSpeedKmHour(): number;
getChassisWorldTransform(): btTransform;
rayCast(wheel: btWheelInfo): number;
updateVehicle(step: number): void;
resetSuspension(): void;
getSteeringValue(wheel: number): number;
updateWheelTransformsWS(wheel: btWheelInfo, interpolatedTransform?: boolean): void;
setPitchControl(pitch: number): void;
updateSuspension(deltaTime: number): void;
updateFriction(timeStep: number): void;
getRightAxis(): number;
getUpAxis(): number;
getForwardAxis(): number;
getForwardVector(): btVector3;
getUserConstraintType(): number;
setUserConstraintType(userConstraintType: number): void;
setUserConstraintId(uid: number): void;
getUserConstraintId(): number;
}
class btGhostObject extends btCollisionObject {
constructor();
getNumOverlappingObjects(): number;
getOverlappingObject(index: number): btCollisionObject;
}
class btPairCachingGhostObject extends btGhostObject {
constructor();
}
class btGhostPairCallback {
constructor();
}
class btSoftBodyWorldInfo {
constructor();
get_air_density(): number;
set_air_density(air_density: number): void;
get_water_density(): number;
set_water_density(water_density: number): void;
get_water_offset(): number;
set_water_offset(water_offset: number): void;
get_m_maxDisplacement(): number;
set_m_maxDisplacement(m_maxDisplacement: number): void;
get_water_normal(): btVector3;
set_water_normal(water_normal: btVector3): void;
get_m_broadphase(): btBroadphaseInterface;
set_m_broadphase(m_broadphase: btBroadphaseInterface): void;
get_m_dispatcher(): btDispatcher;
set_m_dispatcher(m_dispatcher: btDispatcher): void;
get_m_gravity(): btVector3;
set_m_gravity(m_gravity: btVector3): void;
}
class Face {
get_m_n(): ReadonlyArray<Node>;
set_m_n(m_n: ReadonlyArray<Node>): void;
get_m_normal(): btVector3;
set_m_normal(m_normal: btVector3): void;
get_m_ra(): number;
set_m_ra(m_ra: number): void;
}
class tFaceArray {
size(): number;
at(n: number): Face;
}
class Node {
get_m_x(): btVector3;
set_m_x(m_x: btVector3): void;
get_m_q(): btVector3;
set_m_q(m_q: btVector3): void;
get_m_v(): btVector3;
set_m_v(m_v: btVector3): void;
get_m_f(): btVector3;
set_m_f(m_f: btVector3): void;
get_m_n(): btVector3;
set_m_n(m_n: btVector3): void;
get_m_im(): number;
set_m_im(m_im: number): void;
get_m_area(): number;
set_m_area(m_area: number): void;
}
class tNodeArray {
size(): number;
at(n: number): Node;
}
class Material {
get_m_kLST(): number;
set_m_kLST(m_kLST: number): void;
get_m_kAST(): number;
set_m_kAST(m_kAST: number): void;
get_m_kVST(): number;
set_m_kVST(m_kVST: number): void;
get_m_flags(): number;
set_m_flags(m_flags: number): void;
}
class tMaterialArray {
size(): number;
at(n: number): Material;
}
class Anchor {
get_m_node(): Node;
set_m_node(m_node: Node): void;
get_m_local(): btVector3;
set_m_local(m_local: btVector3): void;
get_m_body(): btRigidBody;
set_m_body(m_body: btRigidBody): void;
get_m_influence(): number;
set_m_influence(m_influence: number): void;
get_m_c0(): btMatrix3x3;
set_m_c0(m_c0: btMatrix3x3): void;
get_m_c1(): btVector3;
set_m_c1(m_c1: btVector3): void;
get_m_c2(): number;
set_m_c2(m_c2: number): void;
}
class tAnchorArray {
size(): number;
at(n: number): Anchor;
clear(): void;
push_back(val: Anchor): void;
pop_back(): void;
}
class Config {
get_kVCF(): number;
set_kVCF(kVCF: number): void;
get_kDP(): number;
set_kDP(kDP: number): void;
get_kDG(): number;
set_kDG(kDG: number): void;
get_kLF(): number;
set_kLF(kLF: number): void;
get_kPR(): number;
set_kPR(kPR: number): void;
get_kVC(): number;
set_kVC(kVC: number): void;
get_kDF(): number;
set_kDF(kDF: number): void;
get_kMT(): number;
set_kMT(kMT: number): void;
get_kCHR(): number;
set_kCHR(kCHR: number): void;
get_kKHR(): number;
set_kKHR(kKHR: number): void;
get_kSHR(): number;
set_kSHR(kSHR: number): void;
get_kAHR(): number;
set_kAHR(kAHR: number): void;
get_kSRHR_CL(): number;
set_kSRHR_CL(kSRHR_CL: number): void;
get_kSKHR_CL(): number;
set_kSKHR_CL(kSKHR_CL: number): void;
get_kSSHR_CL(): number;
set_kSSHR_CL(kSSHR_CL: number): void;
get_kSR_SPLT_CL(): number;
set_kSR_SPLT_CL(kSR_SPLT_CL: number): void;
get_kSK_SPLT_CL(): number;
set_kSK_SPLT_CL(kSK_SPLT_CL: number): void;
get_kSS_SPLT_CL(): number;
set_kSS_SPLT_CL(kSS_SPLT_CL: number): void;
get_maxvolume(): number;
set_maxvolume(maxvolume: number): void;
get_timescale(): number;
set_timescale(timescale: number): void;
get_viterations(): number;
set_viterations(viterations: number): void;
get_piterations(): number;
set_piterations(piterations: number): void;
get_diterations(): number;
set_diterations(diterations: number): void;
get_citerations(): number;
set_citerations(citerations: number): void;
get_collisions(): number;
set_collisions(collisions: number): void;
}
class btSoftBody extends btCollisionObject {
constructor(worldInfo: btSoftBodyWorldInfo, node_count: number, x: btVector3, m: ReadonlyArray<number>);
get_m_cfg(): Config;
set_m_cfg(m_cfg: Config): void;
get_m_nodes(): tNodeArray;
set_m_nodes(m_nodes: tNodeArray): void;
get_m_faces(): tFaceArray;
set_m_faces(m_faces: tFaceArray): void;
get_m_materials(): tMaterialArray;
set_m_materials(m_materials: tMaterialArray): void;
get_m_anchors(): tAnchorArray;
set_m_anchors(m_anchors: tAnchorArray): void;
checkLink(node0: number, node1: number): boolean;
checkFace(node0: number, node1: number, node2: number): boolean;
appendMaterial(): Material;
appendNode(x: btVector3, m: number): void;
appendLink(node0: number, node1: number, mat: Material, bcheckexist: boolean): void;
appendFace(node0: number, node1: number, node2: number, mat: Material): void;
appendTetra(node0: number, node1: number, node2: number, node3: number, mat: Material): void;
appendAnchor(node: number, body: btRigidBody, disableCollisionBetweenLinkedBodies: boolean, influence: number): void;
addForce(force: btVector3): void;
addForce(force: btVector3, node: number): void;
addAeroForceToNode(windVelocity: btVector3, nodeIndex: number): void;
getTotalMass(): number;
setTotalMass(mass: number, fromfaces: boolean): void;
setMass(node: number, mass: number): void;
transform(trs: btTransform): void;
translate(trs: btVector3): void;
rotate(rot: btQuaternion): void;
scale(scl: btVector3): void;
generateClusters(k: number, maxiterations?: number): number;
generateBendingConstraints(distance: number, mat: Material): number;
upcast(colObj: btCollisionObject): btSoftBody;
}
class btSoftBodyRigidBodyCollisionConfiguration extends btDefaultCollisionConfiguration {
constructor(info?: btDefaultCollisionConstructionInfo);
}
class btSoftBodySolver {
}
class btDefaultSoftBodySolver extends btSoftBodySolver {
constructor();
}
class btSoftBodyArray {
size(): number;
at(n: number): btSoftBody;
}
class btSoftRigidDynamicsWorld extends btDiscreteDynamicsWorld {
constructor(dispatcher: btDispatcher, pairCache: btBroadphaseInterface, constraintSolver: btConstraintSolver, collisionConfiguration: btCollisionConfiguration, softBodySolver: btSoftBodySolver);
addSoftBody(body: btSoftBody, collisionFilterGroup: number, collisionFilterMask: number): void;
removeSoftBody(body: btSoftBody): void;
removeCollisionObject(collisionObject: btCollisionObject): void;
getWorldInfo(): btSoftBodyWorldInfo;
getSoftBodyArray(): btSoftBodyArray;
}
class btSoftBodyHelpers {
constructor();
CreateRope(worldInfo: btSoftBodyWorldInfo, from: btVector3, to: btVector3, res: number, fixeds: number): btSoftBody;
CreatePatch(worldInfo: btSoftBodyWorldInfo, corner00: btVector3, corner10: btVector3, corner01: btVector3, corner11: btVector3, resx: number, resy: number, fixeds: number, gendiags: boolean): btSoftBody;
CreatePatchUV(worldInfo: btSoftBodyWorldInfo, corner00: btVector3, corner10: btVector3, corner01: btVector3, corner11: btVector3, resx: number, resy: number, fixeds: number, gendiags: boolean, tex_coords: ReadonlyArray<number>): btSoftBody;
CreateEllipsoid(worldInfo: btSoftBodyWorldInfo, center: btVector3, radius: btVector3, res: number): btSoftBody;
CreateFromTriMesh(worldInfo: btSoftBodyWorldInfo, vertices: ReadonlyArray<number>, triangles: ReadonlyArray<number>, ntriangles: number, randomizeConstraints: boolean): btSoftBody;
CreateFromConvexHull(worldInfo: btSoftBodyWorldInfo, vertices: btVector3, nvertices: number, randomizeConstraints: boolean): btSoftBody;
}
}
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0" />
<title>Three</title>
<style>
* {
padding: 0;
margin: 0;
-webkit-tap-highlight-color: rgba(0,0,0,0);
-webkit-touch-callout:none;
-webkit-user-select:none;
-khtml-user-select:none;
-moz-user-select:none;
-ms-user-select:none;
user-select:none;
touch-action: none;
}
div {
user-select: none;
}
</style>
<script src="//yun.duiba.com.cn/aurora/assets/4723050c150b41f362ecf483e9cf98eb31c4a15b.js"></script>
</head>
<body>
<!-- 这里的 bundle 就是 webpack 临时打包出来 -->
<script src="//yun.duiba.com.cn/aurora/assets/5feda82574ac6db79f09540a8d24d09ff29ec9c9.js"></script>
<script>
window.addEventListener("load", function () {
console.log('load')
})
</script>
</body>
</html>
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public/index.html
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......@@ -3,17 +3,36 @@
<head>
<meta charset="UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0" />
<title>Three</title>
<style>
* {
padding: 0;
margin: 0;
-webkit-tap-highlight-color: rgba(0,0,0,0);
-webkit-touch-callout:none;
-webkit-user-select:none;
-khtml-user-select:none;
-moz-user-select:none;
-ms-user-select:none;
user-select:none;
touch-action: none;
}
div {
user-select: none;
}
</style>
<script src="./ammo.js"></script>
</head>
<body>
<!-- 这里的 bundle 就是 webpack 临时打包出来 -->
<script src="bundle.js"></script>
<script>
window.addEventListener("load", function () {
console.log('load')
})
</script>
</body>
</html>
\ No newline at end of file
src/CarScene/index.ts
View file @ 6e17550e
import { EVENTS_ENUM, PerspectiveScene } from "../module/PerspectiveScene";
import * as THREE from 'three'
import { OimoPhysicWorld } from "../OimoPhysicWorld/OimoPhysicWorld";
import { AmmoPhysicWorld } from "../module/AmmoPhysicWorld";
import { Vehicle } from "./vehicle";
import { FirstPersonCameraControl } from "../module/CameraControl/FirstControlCameraControl";
function gradTexture(color: [number[], string[]]) {
var c = document.createElement("canvas");
......@@ -48,17 +51,66 @@ function basicTexture(n: number){
return tx;
}
function generateHeight( width: number, depth: number, minHeight: number, maxHeight: number) {
// Generates the height data (a sinus wave)
var size = width * depth;
var data = new Float32Array( size );
var hRange = maxHeight - minHeight;
var w2 = width / 2;
var d2 = depth / 2;
var phaseMult = 10;
var p = 0;
for ( var j = 0; j < depth; j ++ ) {
for ( var i = 0; i < width; i ++ ) {
var radius = Math.sqrt(
Math.pow( ( i - w2 ) / w2, 2.0 ) +
Math.pow( ( j - d2 ) / d2, 2.0 ) );
var height = ( Math.sin( radius * phaseMult ) + 1 ) * 0.5 * hRange + minHeight;
data[ p ] = height;
p++;
}
}
return data;
}
const GeometryMap = {
'box': new THREE.BoxGeometry(1,1,1)
}
var ZERO_QUATERNION = new THREE.Quaternion(0, 0, 0, 1);
export class CarScene extends PerspectiveScene {
vehicleIns: Vehicle;
cameraControls: FirstPersonCameraControl
constructor() {
super()
this.camera.position.set(20, 20, 20)
// this.OrbitControlsIns.enabled = false
// this.cameraControls = new FirstPersonCameraControl(this.camera)
// document.body.addEventListener('click', () => {
// this.cameraControls.lock()
// })
this.initEvents()
this.initUi()
this.initPhysicWorld()
// this.initOimoPhysicWorld()
this.initAmmoPhySicWorld()
}
initUi() {
......@@ -71,6 +123,20 @@ export class CarScene extends PerspectiveScene {
this.scene.add(dirLight)
this.scene.add(new THREE.DirectionalLightHelper(dirLight))
dirLight.castShadow = true
console.log(dirLight.shadow)
dirLight.shadow.mapSize.width = 1024 // 2的 n次幂 数值越高 细节越高
dirLight.shadow.mapSize.height = 1024
dirLight.shadow.camera.near = 0.3
dirLight.shadow.camera.far = 60
dirLight.shadow.camera.top = 40
dirLight.shadow.camera.left = 44
dirLight.shadow.camera.bottom = -28
dirLight.shadow.camera.right = -44
dirLight.shadow.radius = 4
this.scene.add(new THREE.CameraHelper(dirLight.shadow.camera))
let renderer = this.renderer
// 开启阴影
renderer.shadowMap.enabled = true
......@@ -83,7 +149,7 @@ export class CarScene extends PerspectiveScene {
this.scene.add(new THREE.AmbientLight(0x3D4143))
this.scene.add(new THREE.AxesHelper(100))
this.scene.add(new THREE.GridHelper(100))
this.scene.add(new THREE.GridHelper(100, 20))
// let imgTexture = new THREE.TextureLoader().load('http://qnpic.top/yoona2.jpg')
// imgTexture.wrapS = imgTexture.wrapT = THREE.RepeatWrapping;
......@@ -107,11 +173,151 @@ export class CarScene extends PerspectiveScene {
}
ammoPhysicWorld: AmmoPhysicWorld
initAmmoPhySicWorld() {
this.ammoPhysicWorld = new AmmoPhysicWorld()
console.log(this.ammoPhysicWorld)
const boxGeometry = new THREE.BoxGeometry(1,1,1)
const material = new THREE.MeshLambertMaterial({
// wireframe: true,
map: new THREE.TextureLoader().load('http://qnpic.top/yoona2.jpg')
})
material.color = new THREE.Color(0xffffff * Math.random())
const boxMesh = new THREE.Mesh(boxGeometry, material)
boxMesh.position.set(0, 20, 0)
boxMesh.castShadow = true
this.scene.add(boxMesh)
this.ammoPhysicWorld.addMesh(boxMesh, {
mass: 1,
// friction: 10,
restitution: 2
})
// const planeGeometry = new THREE.BoxGeometry(75, 1, 75)
// const planeMesh = new THREE.Mesh(planeGeometry, new THREE.MeshPhongMaterial({
// color: 0xffffff,
// side: THREE.DoubleSide
// }))
// planeMesh.receiveShadow = true
// planeMesh.position.y = -1
// this.scene.add(planeMesh)
// this.ammoPhysicWorld.addMesh(planeMesh, {
// // friction: 2,
// restitution: 0.1
// })
this.createTerrain()
const vehicleIns = this.vehicleIns = new Vehicle(new THREE.Vector3(0, 4, -20), ZERO_QUATERNION)
this.scene.add(vehicleIns)
this.ammoPhysicWorld.addDynamicBody(vehicleIns)
}
createTerrain() {
const terrainWidth = 128, terrainDepth = 128
const terrainWidthExtents = 100, terrainDepthExtents = 100
const terrainHelfWidth = terrainWidth / 2, terrainHelfDepath = terrainDepth / 2
const terrainMaxHeight = 8, terrainMinHeight = 0
const heightData = generateHeight(terrainWidth, terrainDepth, terrainMinHeight, terrainMaxHeight)
const Planegeometry = new THREE.PlaneBufferGeometry( terrainWidthExtents, terrainDepthExtents, terrainWidth - 1, terrainDepth - 1 );
Planegeometry.rotateX( - Math.PI / 2 );
const vertices = Planegeometry.attributes.position.array;
// console.log(vertices)
// i < l
for ( var i = 0, j = 0, l = vertices.length; j < l; i ++, j += 3 ) {
// j + 1 because it is the y component that we modify
// @ts-expect-error
vertices[j + 1] = heightData[ i ];
}
// 计算法线向量
Planegeometry.computeVertexNormals();
const groundMaterial = new THREE.MeshPhongMaterial( { color: 0xC7C7C7 } );
const terrainMesh = new THREE.Mesh( Planegeometry, groundMaterial );
terrainMesh.receiveShadow = true
this.scene.add( terrainMesh );
// This parameter is not really used, since we are using PHY_FLOAT height data type and hence it is ignored
var heightScale = 1;
// Up axis = 0 for X, 1 for Y, 2 for Z. Normally 1 = Y is used.
var upAxis = 1;
// hdt, height data type. "PHY_FLOAT" is used. Possible values are "PHY_FLOAT", "PHY_UCHAR", "PHY_SHORT"
var hdt = "PHY_FLOAT"
// "PHY_FLOAT";
// Set this to your needs (inverts the triangles)
var flipQuadEdges = false;
// Creates height data buffer in Ammo heap
const ammoHeightData = Ammo._malloc( 4 * terrainWidth * terrainDepth );
// Copy the javascript height data array to the Ammo one.
var p = 0;
var p2 = 0;
for ( var j = 0; j < terrainDepth; j ++ ) {
for ( var i = 0; i < terrainWidth; i ++ ) {
// write 32-bit float data to memory
Ammo.HEAPF32[ammoHeightData + p2 >> 2] = heightData[ p ];
p ++;
// 4 bytes/float
p2 += 4;
}
}
// Creates the heightfield physics shape
var heightFieldShape = new Ammo.btHeightfieldTerrainShape(
terrainWidth,
terrainDepth,
ammoHeightData,
heightScale,
terrainMinHeight,
terrainMaxHeight,
upAxis,
// @ts-expect-error
hdt,
flipQuadEdges
);
// Set horizontal scale
var scaleX = terrainWidthExtents / ( terrainWidth - 1 );
var scaleZ = terrainDepthExtents / ( terrainDepth - 1 );
heightFieldShape.setLocalScaling( new Ammo.btVector3( scaleX, 1, scaleZ ) );
heightFieldShape.setMargin( 0.05 );
var groundTransform = new Ammo.btTransform();
groundTransform.setIdentity();
// Shifts the terrain, since bullet re-centers it on its bounding box.
groundTransform.setOrigin( new Ammo.btVector3( 0, ( terrainMaxHeight + terrainMinHeight ) / 2, 0 ) );
var groundMass = 0;
var groundLocalInertia = new Ammo.btVector3( 0, 0, 0 );
var groundMotionState = new Ammo.btDefaultMotionState( groundTransform );
var groundBody = new Ammo.btRigidBody( new Ammo.btRigidBodyConstructionInfo( groundMass, groundMotionState, heightFieldShape, groundLocalInertia ) );
this.ammoPhysicWorld.physicWorld.addRigidBody( groundBody );
}
physicWorld: OimoPhysicWorld
/**
* 创建物理世界
*/
initPhysicWorld() {
initOimoPhysicWorld() {
this.physicWorld = new OimoPhysicWorld()
console.log(this.physicWorld)
......@@ -136,8 +342,7 @@ export class CarScene extends PerspectiveScene {
side: THREE.DoubleSide
}))
planeMesh.receiveShadow = true
// planeMesh.position.set(5, 0, 5)
// planeMesh.rotateX(Math.PI / 2)
// planeMesh.position.y = -2
this.scene.add(planeMesh)
const ridigBody = this.physicWorld.addMesh(planeMesh, {
......@@ -160,10 +365,26 @@ export class CarScene extends PerspectiveScene {
}
onEnterFrame() {
onEnterFrame(e: any) {
if (this.physicWorld) {
this.physicWorld.step()
}
if (this.ammoPhysicWorld) {
this.ammoPhysicWorld.step()
}
// this.updateCamera(this.camera)
}
updateCamera(camera: THREE.Camera) {
if (this.vehicleIns) {
const carPosition = this.vehicleIns.chassisMesh.position
// 跟随 Car
const relativeCameraOffset = new THREE.Vector3(0, 10, -15)
relativeCameraOffset.applyMatrix4(this.vehicleIns.chassisMesh.matrixWorld)
this.camera.position.copy(relativeCameraOffset)
this.camera.lookAt(carPosition)
}
}
}
\ No newline at end of file
src/CarScene/terrain.ts 0 → 100644
View file @ 6e17550e
import * as THREE from 'three';
class TerrainShap extends THREE.Object3D {
constructor(terrainWith: number, terrainHeight: number, heightData: number[]) {
super()
}
}
\ No newline at end of file
src/CarScene/vehicle.ts 0 → 100644
View file @ 6e17550e
import { KeyBoardStateStore } from './../module/keyboardState/keyboardState';
import * as THREE from "three";
import { EventDispatcher } from "../module/EventDispatcher";
const materialDynamic = new THREE.MeshPhongMaterial( { color:0xfca400 } );
const materialStatic = new THREE.MeshPhongMaterial( { color:0x999999 } );
const materialInteractive = new THREE.MeshPhongMaterial( { color:0x990000 } );
var steeringIncrement = .04; // 转向速度
var steeringClamp = .5 // Math.PI / 6; // .5
var maxEngineForce = 2000;
var maxBreakingForce = 100;
// Wheels
var FRONT_LEFT = 0;
var FRONT_RIGHT = 1;
var BACK_LEFT = 2;
var BACK_RIGHT = 3;
function createElement(type: string, className: string, style: Partial<CSSStyleDeclaration>, events?: {
[eventName: string]: (event: Event) => void
}) {
const dom = document.createElement(type)
dom.setAttribute('class', className)
for (let k in style) {
dom.style[k] = style[k]
// @ts-expect-error
dom.originColor = style.backgroundColor
// @ts-expect-error
dom.touchColor = 'red'
}
document.body.appendChild(dom)
for (let k in events) {
dom.addEventListener(k, events[k])
}
return dom
}
type ActionNameEnum = 'acceleration' | 'braking' | 'left' | 'right';
export class Vehicle extends THREE.Object3D{
chassisMesh: THREE.Mesh // 车身
fixedChassicMesh: THREE.Mesh // 固定的车身
wheelMeshes: any[] = []
chassisRidigBody: Ammo.btRigidBody
raycastVehicle: Ammo.btRaycastVehicle
btVehicleTuning: Ammo.btVehicleTuning
sppedBoard: HTMLElement // 速度面板
constructor(pos: THREE.Vector3, quat: THREE.Quaternion) {
super()
// this.initChassisMesh()
this.createVehicle(pos, quat)
this.addEventListener('update', this.update)
}
initChassisMesh() {
this.add(new THREE.Mesh(new THREE.BoxGeometry(1,1,1), new THREE.MeshBasicMaterial({color: 0xffffff})))
}
createVehicle(pos: THREE.Vector3, quat: THREE.Quaternion) {
// Vehicle contants
// classis 底盘
var chassisWidth = 1.8;
var chassisHeight = .6;
var chassisLength = 4;
var massVehicle = 800;
// Chassis
var geometry = new Ammo.btBoxShape(new Ammo.btVector3(chassisWidth * .5, chassisHeight * .5, chassisLength * .5));
// get btTransform
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);
geometry.calculateLocalInertia(massVehicle, localInertia); // 计算局部惯性
var body = this.chassisRidigBody = new Ammo.btRigidBody(new Ammo.btRigidBodyConstructionInfo(massVehicle, motionState, geometry, localInertia));
body.setActivationState(4);
var chassisMesh = this.chassisMesh = this.createChassisMesh(chassisWidth, chassisHeight, chassisLength);
// this.fixedChassicMesh = this.createChassisMesh(chassisWidth, chassisHeight, chassisLength)
this.fixedChassicMesh = this.chassisMesh.add(new THREE.Mesh(
new THREE.BoxGeometry(1, 1, 1),
materialDynamic
))
this.sppedBoard = createElement('div', 'speedboard', {
position: 'fixed',
backgroundColor: 'yellow',
padding: '3px 20px',
left: "0px",
bottom: "0px"
})
createElement('div', 'left', {
position: 'fixed',
width: '80px',
height: '80px',
backgroundColor: 'blue',
left: '30px',
bottom: '30px'
}, {
mousedown: () => {
this.doAction('left')
},
mouseup: () => {
this.cancelAction('left')
},
touchstart: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.touchColor
this.doAction('left')
},
touchend: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.originColor
this.cancelAction('left')
}
})
createElement('div', 'right', {
position: 'fixed',
width: '80px',
height: '80px',
backgroundColor: 'blue',
left: '130px',
bottom: '30px'
}, {
mousedown: () => {
this.doAction('right')
},
mouseup: () => {
this.cancelAction('right')
},
touchstart: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.touchColor
this.doAction('right')
},
touchend: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.originColor
this.cancelAction('right')
}
})
createElement('div', 'acceleration', {
position: 'fixed',
width: '80px',
height: '80px',
backgroundColor: 'blue',
right: '130px',
bottom: '30px'
}, {
mousedown: () => {
this.doAction('acceleration')
},
mouseup: () => {
this.cancelAction('acceleration')
},
touchstart: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.touchColor
this.doAction('acceleration')
},
touchend: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.originColor
this.cancelAction('acceleration')
}
})
createElement('div', 'braking', {
position: 'fixed',
width: '80px',
height: '80px',
backgroundColor: 'blue',
right: '30px',
bottom: '30px'
}, {
mousedown: () => {
this.doAction('braking')
},
mouseup: () => {
this.cancelAction('braking')
},
touchstart: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.touchColor
this.doAction('braking')
},
touchend: (e) => {
const target = e.target as HTMLElement & {
touchColor: string,
originColor: string
}
target.style.backgroundColor = target.originColor
this.cancelAction('braking')
}
})
}
addWheel(isFront: boolean, pos: Ammo.btVector3, radius: number, width: number, index: number) {
const vehicle = this.raycastVehicle
const tuning = this.btVehicleTuning
var friction = 1000;
// suspension 暂停 Stiffness刚度
var suspensionStiffness = 20.0;
var suspensionDamping = 2.3;
var suspensionCompression = 4.4;
var suspensionRestLength = 0.6;
var rollInfluence = 0.2; // roll influence
var wheelDirectionCS0 = new Ammo.btVector3(0, -1, 0);
var wheelAxleCS = new Ammo.btVector3(-1, 0, 0);
var wheelInfo = vehicle.addWheel(
pos,
wheelDirectionCS0,
wheelAxleCS,
suspensionRestLength,
radius,
tuning,
isFront);
// 悬架刚度？
wheelInfo.set_m_suspensionStiffness(suspensionStiffness);
wheelInfo.set_m_wheelsDampingRelaxation(suspensionDamping);
wheelInfo.set_m_wheelsDampingCompression(suspensionCompression);
wheelInfo.set_m_frictionSlip(friction); // 摩擦系数
wheelInfo.set_m_rollInfluence(rollInfluence);
this.wheelMeshes[index] = this.createWheelMesh(radius, width);
}
createWheelMesh(radius: number, width: number) {
var t = new THREE.CylinderGeometry(radius, radius, width, 24, 1);
t.rotateZ(Math.PI / 2);
var mesh = new THREE.Mesh(t, materialInteractive);
mesh.add(new THREE.Mesh(new THREE.BoxGeometry(width * 1.5, radius * 1.75, radius*.25, 1, 1, 1), materialInteractive));
mesh.castShadow = true
this.add(mesh);
return mesh;
}
createChassisMesh(w: number, l: number, h: number) {
var shape = new THREE.BoxGeometry(w, l, h, 1, 1, 1);
var mesh = new THREE.Mesh(shape, materialInteractive);
mesh.castShadow = true
this.add(mesh);
return mesh;
}
initPhysics(physicsWorld: Ammo.btDiscreteDynamicsWorld) {
physicsWorld.addRigidBody(this.chassisRidigBody)
var tuning = this.btVehicleTuning = new Ammo.btVehicleTuning(); // 创建了一个 vehicleTurning 对象？
var rayCaster = new Ammo.btDefaultVehicleRaycaster(physicsWorld); // 创建了一个射线投射
var vehicle = this.raycastVehicle = new Ammo.btRaycastVehicle(tuning, this.chassisRidigBody, rayCaster); // 通过车辆和射线投射创建了一个车辆
vehicle.setCoordinateSystem(0, 1, 2); // 设置坐标系?
physicsWorld.addAction(vehicle); // addAction
var wheelAxisPositionBack = -1;
var wheelRadiusBack = .4;
var wheelWidthBack = .3;
var wheelHalfTrackBack = 1;
var wheelAxisHeightBack = .3;
var wheelAxisFrontPosition = 1.7;
var wheelHalfTrackFront = 1;
var wheelAxisHeightFront = .3;
var wheelRadiusFront = .35;
var wheelWidthFront = 0.2;
this.addWheel(true, new Ammo.btVector3(wheelHalfTrackFront, wheelAxisHeightFront, wheelAxisFrontPosition), wheelRadiusFront, wheelWidthFront, FRONT_LEFT);
this.addWheel(true, new Ammo.btVector3(-wheelHalfTrackFront, wheelAxisHeightFront, wheelAxisFrontPosition), wheelRadiusFront, wheelWidthFront, FRONT_RIGHT);
this.addWheel(false, new Ammo.btVector3(-wheelHalfTrackBack, wheelAxisHeightBack, wheelAxisPositionBack), wheelRadiusBack, wheelWidthBack, BACK_LEFT);
this.addWheel(false, new Ammo.btVector3(wheelHalfTrackBack, wheelAxisHeightBack, wheelAxisPositionBack), wheelRadiusBack, wheelWidthBack, BACK_RIGHT);
}
// Raycast Vehicle
engineForce: number = 0;
vehicleSteering: number = 0; // 车辆转向
breakingForce: number = 0; // 刹车力
actions: {
[x in ActionNameEnum]: boolean
} = {
acceleration: false,
braking: false,
right: false,
left: false
}
doAction = (actionName: ActionNameEnum) => {
this.actions[actionName] = true
}
cancelAction = (actionName: ActionNameEnum) => {
this.actions[actionName] = false
}
update() {
const vehicle = this.raycastVehicle
const tuning = this.btVehicleTuning
var speed = vehicle.getCurrentSpeedKmHour();
this.sppedBoard.innerHTML = (speed < 0 ? '(R) ' : '') + Math.abs(speed).toFixed(1) + ' km/h';
let breakingForce = 0;
let engineForce = 0;
const isAccelerating = this.actions.acceleration || KeyBoardStateStore.isPressed('w')
const isBreaking = this.actions.braking || KeyBoardStateStore.isPressed('s')
const turnRight = this.actions.right || KeyBoardStateStore.isPressed('d')
const turnLeft = this.actions.left || KeyBoardStateStore.isPressed('a')
if (!isAccelerating && !isBreaking && speed !== 0) {
if (Math.abs(speed) < 0.2) {
speed = 0
} else {
if (speed > 0) {
breakingForce = maxBreakingForce / 4;
} else {
engineForce = maxEngineForce;
}
}
}
// 最大速度
if (speed < 80) {
if (isAccelerating) {
if (speed < -1) {
breakingForce = maxBreakingForce;
} else {
engineForce = maxEngineForce;
}
}
if (isBreaking) {
if (speed > 1)
breakingForce = maxBreakingForce;
else engineForce = -maxEngineForce / 2;
}
if (turnLeft) {
if (this.vehicleSteering < steeringClamp)
this.vehicleSteering += steeringIncrement;
}
else {
if (turnRight) {
if (this.vehicleSteering > -steeringClamp)
this.vehicleSteering -= steeringIncrement;
}
else {
if (this.vehicleSteering < -steeringIncrement)
this.vehicleSteering += steeringIncrement;
else {
if (this.vehicleSteering > steeringIncrement)
this.vehicleSteering -= steeringIncrement;
else {
this.vehicleSteering = 0;
}
}
}
}
}
vehicle.applyEngineForce(engineForce, BACK_LEFT);
vehicle.applyEngineForce(engineForce, BACK_RIGHT);
// brake 刹车
vehicle.setBrake(breakingForce / 2, FRONT_LEFT);
vehicle.setBrake(breakingForce / 2, FRONT_RIGHT);
vehicle.setBrake(breakingForce, BACK_LEFT);
vehicle.setBrake(breakingForce, BACK_RIGHT);
// 设置转向角度
vehicle.setSteeringValue(this.vehicleSteering, FRONT_LEFT);
vehicle.setSteeringValue(this.vehicleSteering, FRONT_RIGHT);
var tm, p, q, i;
var n = vehicle.getNumWheels();
const wheelMeshes = this.wheelMeshes
const chassisMesh = this.chassisMesh
for (i = 0; i < n; i++) {
vehicle.updateWheelTransform(i, true);
// 更新 three 的visual wheels
tm = vehicle.getWheelTransformWS(i);
p = tm.getOrigin();
q = tm.getRotation();
wheelMeshes[i].position.set(p.x(), p.y(), p.z());
wheelMeshes[i].quaternion.set(q.x(), q.y(), q.z(), q.w());
}
tm = vehicle.getChassisWorldTransform();
p = tm.getOrigin();
q = tm.getRotation();
chassisMesh.position.set(p.x(), p.y(), p.z());
chassisMesh.quaternion.set(q.x(), q.y(), q.z(), q.w());
}
}
\ No newline at end of file
src/index.ts
View file @ 6e17550e
import { CarScene } from "./CarScene"
console.log('work')
export class StageScene {
constructor() {
this.initStage()
}
new CarScene()
\ No newline at end of file
initStage() {
// @ts-expect-error
Ammo().then(() => {
new CarScene()
})
}
}
new StageScene()
\ No newline at end of file
src/module/AmmoPhysicWorld/index.ts 0 → 100644
View file @ 6e17550e
import * as THREE from 'three'
interface BodyConfig {
mass: number,
friction: number // 摩擦力
restitution: number // 弹性
}
interface DynamicBody {
initPhysics: (w: Ammo.btDiscreteDynamicsWorld) => void
update: (delta: number) => void
}
export class AmmoPhysicWorld {
physicWorld: Ammo.btDiscreteDynamicsWorld
meshes: THREE.Mesh[] = []
meshesMap: WeakMap<THREE.Mesh, Ammo.btRigidBody> = new WeakMap()
clock: THREE.Clock
syncList: Function[] = []
DISABLE_DEACTIVATION: number = 4
TRANSFORM_AUX: Ammo.btTransform = new Ammo.btTransform();
ZERO_QUATERNION: THREE.Quaternion = new THREE.Quaternion(0, 0, 0, 1);
dynamicBodyList: DynamicBody[] = []
constructor() {
this.clock = new THREE.Clock();
this.initPhysicWorld()
}
initPhysicWorld() {
// btDefaultCollisionConfiguration 初始化一个默认碰撞配置
const collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
const dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration );
// 宽相位
const broadphase = new Ammo.btDbvtBroadphase();
// 解算器
const solver = new Ammo.btSequentialImpulseConstraintSolver();
const physicsWorld = this.physicWorld = new Ammo.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );
physicsWorld.setGravity( new Ammo.btVector3( 0, -9.82, 0 ) );
}
createMeshPhysicBody(mesh: THREE.Mesh, cfg: Partial<BodyConfig> = {}) {
console.log(mesh.type, mesh, mesh.geometry)
// @ts-expect-error
const parameters = mesh.geometry.parameters;
const geometry = mesh.geometry;
const finalCfg:BodyConfig = Object.assign({
mass: 0,
friction: 1,
restitution: 0
}, cfg)
var transform = new Ammo.btTransform();
transform.setIdentity();
transform.setOrigin(new Ammo.btVector3(mesh.position.x, mesh.position.y, mesh.position.z));
transform.setRotation(new Ammo.btQuaternion(mesh.quaternion.x, mesh.quaternion.y, mesh.quaternion.z, mesh.quaternion.w));
// 运动状态
var motionState = new Ammo.btDefaultMotionState(transform);
// 局部惯性？
var localInertia = new Ammo.btVector3(0, 0, 0);
if (geometry.type === 'BoxGeometry') {
const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
const btGeometryShape = new Ammo.btBoxShape(new Ammo.btVector3(sx, sy, sz));
btGeometryShape.calculateLocalInertia(
finalCfg.mass
, localInertia);
// 设置 ridigbody 属性，并new 一个 刚体
const rbInfo = new Ammo.btRigidBodyConstructionInfo(finalCfg.mass, motionState, btGeometryShape, localInertia);
const body = new Ammo.btRigidBody(rbInfo);
body.setFriction(finalCfg.friction)
body.setRestitution(finalCfg.restitution)
this.physicWorld.addRigidBody(body)
if (finalCfg.mass) {
body.setActivationState(this.DISABLE_DEACTIVATION)
}
return body
}
// else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
// const radius = parameters.radius !== undefined ? parameters.radius : 1;
// return new OIMO.OSphereGeometry( radius );
// }
return null;
}
addMesh(mesh: THREE.Mesh, config: Partial<BodyConfig> = {}) {
const ridigBody = this.createMeshPhysicBody(mesh, config)
if (ridigBody) {
this.meshes.push(mesh)
this.meshesMap.set(mesh, ridigBody)
}
return ridigBody
}
addDynamicBody(body: DynamicBody) {
body.initPhysics(this.physicWorld)
this.dynamicBodyList.push(body)
}
step() {
const dt = this.clock.getDelta()
const syncList = this.syncList
for (var i = 0; i < syncList.length; i++) {
syncList[i](dt)
}
const meshes = this.meshes
for ( let i = 0, l = meshes.length; i < l; i ++ ) {
const mesh = meshes[i];
// if ( mesh.isInstancedMesh ) {
// const array = mesh.instanceMatrix.array;
// const bodies = meshMap.get( mesh );
// for ( let j = 0; j < bodies.length; j ++ ) {
// const body = bodies[ j ];
// compose( body.getPosition(), body.getOrientation(), array, j * 16 );
// }
// mesh.instanceMatrix.needsUpdate = true;
// } else
if ( mesh.isMesh ) {
const body = this.meshesMap.get(mesh);
// 获取刚体的状态
var ms = body.getMotionState();
if (ms) {
ms.getWorldTransform(this.TRANSFORM_AUX);
var p = this.TRANSFORM_AUX.getOrigin();
var q = this.TRANSFORM_AUX.getRotation();
mesh.position.set(p.x(), p.y(), p.z());
mesh.quaternion.set(q.x(), q.y(), q.z(), q.w());
}
}
}
for (let i = 0; i < this.dynamicBodyList.length; i++) {
const currBody = this.dynamicBodyList[i]
currBody.update(dt)
}
// simulation 模拟
this.physicWorld.stepSimulation( dt, 10 );
}
}
\ No newline at end of file
src/module/CameraControl/FirstControlCameraControl.ts 0 → 100644
View file @ 6e17550e
import {
Vector3,
Euler,
EventDispatcher,
Camera
} from 'three'
const _euler = new Euler(0, 0, 0, 'YXZ');
const _vector = new Vector3();
const _cameraDefaultVector = new Vector3(0, 0, -1);
const _changeEvent = { type: 'change' };
const _lockEvent = { type: 'lock' };
const _unlockEvent = { type: 'unlock' };
const _PI_2 = Math.PI / 2;
export class FirstPersonCameraControl extends EventDispatcher {
domElement: HTMLElement
isLocked: boolean // 是否锁定
minPolarAngle: number // 最小相机俯仰角度
maxPolarAngle: number // 最大相机俯仰角度
camera: Camera // 相机
lookSpeedCoefficient: number // 旋转速度系数
constructor(camera: Camera, domElement?: HTMLElement) {
super()
if (!camera) {
throw new Error('FirstPersonCameraControl: The first parameter "camera" is required')
}
if ( domElement === undefined ) {
console.warn( 'FirstPersonCameraControl: The second parameter "domElement" is now mandatory.' );
domElement = document.body;
}
this.domElement = domElement;
this.camera = camera
this.isLocked = false;
// 设置相机俯仰角度 Range is 0 to Math.PI
this.minPolarAngle = 0; // radians
this.maxPolarAngle = Math.PI; // radians
this.lookSpeedCoefficient = 0.001
this.initEvents()
}
private initEvents() {
const ownerDocument = this.domElement.ownerDocument
ownerDocument.addEventListener('mousemove', this.onMouseMove, false)
ownerDocument.addEventListener('touchmove', this.onMouseMove, false)
ownerDocument.addEventListener('pointerlockchange', this.onPointerLockChange, false)
ownerDocument.addEventListener('pointerlockerror', this.onPointerLockError, false)
}
private removeEvents() {
const ownerDocument = this.domElement.ownerDocument
ownerDocument.removeEventListener('mousemove', this.onMouseMove, false)
ownerDocument.removeEventListener('touchmove', this.onMouseMove, false)
ownerDocument.removeEventListener('pointerlockchange', this.onPointerLockChange, false)
ownerDocument.removeEventListener('pointerlockerror', this.onPointerLockError, false)
}
private onPointerLockError() {
console.error('FirstPersonCameraControl: Pointer lock error')
}
private onMouseMove = (event: Event) => {
if (this.isLocked) {
const camera = this.camera
// @ts-ignore
const movementX = event.movementX || event.mozMovementX || event.webkitMovementX || 0
// @ts-ignore
const movementY = event.movementY || event.mozMovementY || event.webkitMovementY || 0
// 获取 相机的 四元 quaternion
_euler.setFromQuaternion( camera.quaternion );
_euler.y -= movementX * this.lookSpeedCoefficient;
_euler.x -= movementY * this.lookSpeedCoefficient;
_euler.x = Math.max( _PI_2 - this.maxPolarAngle, Math.min( _PI_2 - this.minPolarAngle, _euler.x ) );
camera.quaternion.setFromEuler( _euler );
this.dispatchEvent( _changeEvent );
}
}
/**
* pointerlock change 事件
*/
private onPointerLockChange = () => {
if ( this.domElement.ownerDocument.pointerLockElement === this.domElement ) {
this.dispatchEvent( _lockEvent );
this.isLocked = true;
} else {
this.dispatchEvent( _unlockEvent );
this.isLocked = false;
}
}
dispose() {
this.removeEvents()
}
getCamera() {
return this.camera
}
/**
* 获取相机的四元朝向
*/
getCameraDirection = (v: Vector3) => {
// 简单粗暴点就下面这样 getWorldDirection
return this.camera.getWorldDirection(v)
return v.copy(_cameraDefaultVector).applyQuaternion(this.camera.quaternion)
}
/**
* 向前移动
* @param distance
*/
moveForward(distance: number) {
const camera = this.camera
// camera.getWorldDirection(v) 这样也行
// 第一列为右向的向量
// 第二 列为上向的向量
// 第三 列为向前的向量
_vector.setFromMatrixColumn( camera.matrix, 0 );
// 向前的向量
_vector.crossVectors( camera.up, _vector );
camera.position.addScaledVector( _vector, distance );
}
getControlsRight() {
const _camera = this.camera
_vector.setFromMatrixColumn( _camera.matrix, 0 );
return _vector
}
/**
* 向右移动
* @param distance
*/
moveRight(distance: number) {
const _camera = this.camera
_vector.setFromMatrixColumn( _camera.matrix, 0 );
_camera.position.addScaledVector( _vector, distance );
}
moveToPostion(position: Vector3) {
this.camera.position.copy(position)
}
add(v: Vector3) {
this.camera.position.add(v)
}
/**
* 锁定
*/
lock() {
this.domElement.requestPointerLock()
}
/**
* 接触锁定
*/
unlock() {
this.domElement.ownerDocument.exitPointerLock()
}
}
\ No newline at end of file
src/module/EventDispatcher.ts
View file @ 6e17550e
......@@ -4,7 +4,7 @@ type EventCall<T extends any> = (e?: {
}, ...arg1: any[]) => any
export class EventDispatcher<EventsKeyName extends string> {
export class EventDispatcher<EventsKeyName extends string = string> {
private listeners: {
[key in EventsKeyName]?: {
listener: EventCall<EventsKeyName>,
......
src/module/keyboardState/keyboardState.ts 0 → 100644
View file @ 6e17550e
import { EventDispatcher } from "../EventDispatcher"
type KeyDownCallBack = (e?: KeyboardEvent) => void
export class KeyBoardState extends EventDispatcher {
constructor() {
super()
this.initEvents()
}
private keyState: any = {}
private initEvents() {
document.addEventListener('keydown', (e: KeyboardEvent) => {
const key = e.key
const code = e.code
for (let k of [key+'-down', code+'-down']) {
this.dispatchEvent(k, e)
}
this.keyState[key] = true
this.keyState[code] = true
})
document.addEventListener('keyup', (e) => {
const key = e.key
const code = e.code
for (let k of [key+'-up', code+'-up']) {
this.dispatchEvent(k, e)
}
this.keyState[key] = false
this.keyState[code] = false
})
}
/**
* 监听事件
* @param key
* @param callback
*/
onKeyDown(key: string, callback: KeyDownCallBack, context?: any) {
// @ts-expect-error
this.addEventListener(key+'-down', callback, context)
}
/**
* 删除事件 监听
* @param key
* @param callback
*/
removeKeyDown(key: string, callback: KeyDownCallBack) {
// @ts-expect-error
this.removeEventListener(key+'-down', callback)
}
isPressed(key: string) {
return this.keyState[key.toUpperCase()] || this.keyState[key.toLocaleLowerCase()]
}
}
export const KeyBoardStateStore = new KeyBoardState()
\ No newline at end of file
src/types/ammo.d.ts 0 → 100644
View file @ 6e17550e
// export default Ammo;
// declare function Ammo<T>(target?: T): Promise<T & typeof Ammo>;
declare namespace Ammo {
function destroy(obj: any): void;
function _malloc(size: number): number;
function _free(ptr: number): void;
const HEAP8: Int8Array;
const HEAP16: Int16Array;
const HEAP32: Int32Array;
const HEAPU8: Uint8Array;
const HEAPU16: Uint16Array;
const HEAPU32: Uint32Array;
const HEAPF32: Float32Array;
const HEAPF64: Float64Array;
class btIDebugDraw {
drawLine(from: btVector3, to: btVector3, color: btVector3): void;
drawContactPoint(pointOnB: btVector3, normalOnB: btVector3, distance: number, lifeTime: number, color: btVector3): void;
reportErrorWarning(warningString: string): void;
draw3dText(location: btVector3, textString: string): void;
setDebugMode(debugMode: number): void;
getDebugMode(): number;
}
class DebugDrawer {
constructor();
drawLine(from: btVector3, to: btVector3, color: btVector3): void;
drawContactPoint(pointOnB: btVector3, normalOnB: btVector3, distance: number, lifeTime: number, color: btVector3): void;
reportErrorWarning(warningString: string): void;
draw3dText(location: btVector3, textString: string): void;
setDebugMode(debugMode: number): void;
getDebugMode(): number;
}
class btVector3 {
constructor();
constructor(x: number, y: number, z: number);
length(): number;
x(): number;
y(): number;
z(): number;
setX(x: number): void;
setY(y: number): void;
setZ(z: number): void;
setValue(x: number, y: number, z: number): void;
normalize(): void;
rotate(wAxis: btVector3, angle: number): btVector3;
dot(v: btVector3): number;
op_mul(x: number): btVector3;
op_add(v: btVector3): btVector3;
op_sub(v: btVector3): btVector3;
}
class btVector4 extends btVector3 {
constructor();
constructor(x: number, y: number, z: number, w: number);
w(): number;
setValue(x: number, y: number, z: number): void;
setValue(x: number, y: number, z: number, w: number): void;
}
class btQuadWord {
x(): number;
y(): number;
z(): number;
w(): number;
setX(x: number): void;
setY(y: number): void;
setZ(z: number): void;
setW(w: number): void;
}
class btQuaternion extends btQuadWord {
constructor(x: number, y: number, z: number, w: number);
setValue(x: number, y: number, z: number, w: number): void;
setEulerZYX(z: number, y: number, x: number): void;
setRotation(axis: btVector3, angle: number): void;
normalize(): void;
length2(): number;
length(): number;
dot(q: btQuaternion): number;
normalized(): btQuaternion;
getAxis(): btVector3;
inverse(): btQuaternion;
getAngle(): number;
getAngleShortestPath(): number;
angle(q: btQuaternion): number;
angleShortestPath(q: btQuaternion): number;
op_add(q: btQuaternion): btQuaternion;
op_sub(q: btQuaternion): btQuaternion;
op_mul(s: number): btQuaternion;
op_mulq(q: btQuaternion): btQuaternion;
op_div(s: number): btQuaternion;
}
class btMatrix3x3 {
setEulerZYX(ex: number, ey: number, ez: number): void;
getRotation(q: btQuaternion): void;
getRow(y: number): btVector3;
}
class btTransform {
constructor();
constructor(q: btQuaternion, v: btVector3);
setIdentity(): void;
setOrigin(origin: btVector3): void;
setRotation(rotation: btQuaternion): void;
getOrigin(): btVector3;
getRotation(): btQuaternion;
getBasis(): btMatrix3x3;
setFromOpenGLMatrix(m: ReadonlyArray<number>): void;
inverse(): btTransform;
op_mul(t: btTransform): btTransform;
}
class btMotionState {
getWorldTransform(worldTrans: btTransform): void;
setWorldTransform(worldTrans: btTransform): void;
}
class btDefaultMotionState extends btMotionState {
constructor(startTrans?: btTransform, centerOfMassOffset?: btTransform);
get_m_graphicsWorldTrans(): btTransform;
set_m_graphicsWorldTrans(m_graphicsWorldTrans: btTransform): void;
}
class btCollisionObject {
setAnisotropicFriction(anisotropicFriction: btVector3, frictionMode: number): void;
getCollisionShape(): btCollisionShape;
setContactProcessingThreshold(contactProcessingThreshold: number): void;
setActivationState(newState: number): void;
forceActivationState(newState: number): void;
activate(forceActivation?: boolean): void;
isActive(): boolean;
isKinematicObject(): boolean;
isStaticObject(): boolean;
isStaticOrKinematicObject(): boolean;
getRestitution(): number;
getFriction(): number;
getRollingFriction(): number;
setRestitution(rest: number): void;
setFriction(frict: number): void;
setRollingFriction(frict: number): void;
getWorldTransform(): btTransform;
getCollisionFlags(): number;
setCollisionFlags(flags: number): void;
setWorldTransform(worldTrans: btTransform): void;
setCollisionShape(collisionShape: btCollisionShape): void;
setCcdMotionThreshold(ccdMotionThreshold: number): void;
setCcdSweptSphereRadius(radius: number): void;
getUserIndex(): number;
setUserIndex(index: number): void;
getUserPointer(): unknown;
setUserPointer(userPointer: unknown): void;
getBroadphaseHandle(): btBroadphaseProxy;
}
class btCollisionObjectWrapper {
getWorldTransform(): btTransform;
getCollisionObject(): btCollisionObject;
getCollisionShape(): btCollisionShape;
}
class RayResultCallback {
hasHit(): boolean;
get_m_collisionFilterGroup(): number;
set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
get_m_collisionFilterMask(): number;
set_m_collisionFilterMask(m_collisionFilterMask: number): void;
get_m_closestHitFraction(): number;
set_m_closestHitFraction(m_closestHitFraction: number): void;
get_m_collisionObject(): btCollisionObject;
set_m_collisionObject(m_collisionObject: btCollisionObject): void;
}
class ClosestRayResultCallback extends RayResultCallback {
constructor(from: btVector3, to: btVector3);
get_m_rayFromWorld(): btVector3;
set_m_rayFromWorld(m_rayFromWorld: btVector3): void;
get_m_rayToWorld(): btVector3;
set_m_rayToWorld(m_rayToWorld: btVector3): void;
get_m_hitNormalWorld(): btVector3;
set_m_hitNormalWorld(m_hitNormalWorld: btVector3): void;
get_m_hitPointWorld(): btVector3;
set_m_hitPointWorld(m_hitPointWorld: btVector3): void;
}
class btConstCollisionObjectArray {
size(): number;
at(n: number): btCollisionObject;
}
class btScalarArray {
size(): number;
at(n: number): number;
}
class AllHitsRayResultCallback extends RayResultCallback {
constructor(from: btVector3, to: btVector3);
get_m_collisionObjects(): btConstCollisionObjectArray;
set_m_collisionObjects(m_collisionObjects: btConstCollisionObjectArray): void;
get_m_rayFromWorld(): btVector3;
set_m_rayFromWorld(m_rayFromWorld: btVector3): void;
get_m_rayToWorld(): btVector3;
set_m_rayToWorld(m_rayToWorld: btVector3): void;
get_m_hitNormalWorld(): btVector3Array;
set_m_hitNormalWorld(m_hitNormalWorld: btVector3Array): void;
get_m_hitPointWorld(): btVector3Array;
set_m_hitPointWorld(m_hitPointWorld: btVector3Array): void;
get_m_hitFractions(): btScalarArray;
set_m_hitFractions(m_hitFractions: btScalarArray): void;
}
class btManifoldPoint {
getPositionWorldOnA(): btVector3;
getPositionWorldOnB(): btVector3;
getAppliedImpulse(): number;
getDistance(): number;
get_m_localPointA(): btVector3;
set_m_localPointA(m_localPointA: btVector3): void;
get_m_localPointB(): btVector3;
set_m_localPointB(m_localPointB: btVector3): void;
get_m_positionWorldOnB(): btVector3;
set_m_positionWorldOnB(m_positionWorldOnB: btVector3): void;
get_m_positionWorldOnA(): btVector3;
set_m_positionWorldOnA(m_positionWorldOnA: btVector3): void;
get_m_normalWorldOnB(): btVector3;
set_m_normalWorldOnB(m_normalWorldOnB: btVector3): void;
get_m_userPersistentData(): any;
set_m_userPersistentData(m_userPersistentData: any): void;
}
class ContactResultCallback {
addSingleResult(cp: btManifoldPoint, colObj0Wrap: btCollisionObjectWrapper, partId0: number, index0: number, colObj1Wrap: btCollisionObjectWrapper, partId1: number, index1: number): number;
}
class ConcreteContactResultCallback {
constructor();
addSingleResult(cp: btManifoldPoint, colObj0Wrap: btCollisionObjectWrapper, partId0: number, index0: number, colObj1Wrap: btCollisionObjectWrapper, partId1: number, index1: number): number;
}
class LocalShapeInfo {
get_m_shapePart(): number;
set_m_shapePart(m_shapePart: number): void;
get_m_triangleIndex(): number;
set_m_triangleIndex(m_triangleIndex: number): void;
}
class LocalConvexResult {
constructor(hitCollisionObject: btCollisionObject, localShapeInfo: LocalShapeInfo, hitNormalLocal: btVector3, hitPointLocal: btVector3, hitFraction: number);
get_m_hitCollisionObject(): btCollisionObject;
set_m_hitCollisionObject(m_hitCollisionObject: btCollisionObject): void;
get_m_localShapeInfo(): LocalShapeInfo;
set_m_localShapeInfo(m_localShapeInfo: LocalShapeInfo): void;
get_m_hitNormalLocal(): btVector3;
set_m_hitNormalLocal(m_hitNormalLocal: btVector3): void;
get_m_hitPointLocal(): btVector3;
set_m_hitPointLocal(m_hitPointLocal: btVector3): void;
get_m_hitFraction(): number;
set_m_hitFraction(m_hitFraction: number): void;
}
class ConvexResultCallback {
hasHit(): boolean;
get_m_collisionFilterGroup(): number;
set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
get_m_collisionFilterMask(): number;
set_m_collisionFilterMask(m_collisionFilterMask: number): void;
get_m_closestHitFraction(): number;
set_m_closestHitFraction(m_closestHitFraction: number): void;
}
class ClosestConvexResultCallback extends ConvexResultCallback {
constructor(convexFromWorld: btVector3, convexToWorld: btVector3);
get_m_convexFromWorld(): btVector3;
set_m_convexFromWorld(m_convexFromWorld: btVector3): void;
get_m_convexToWorld(): btVector3;
set_m_convexToWorld(m_convexToWorld: btVector3): void;
get_m_hitNormalWorld(): btVector3;
set_m_hitNormalWorld(m_hitNormalWorld: btVector3): void;
get_m_hitPointWorld(): btVector3;
set_m_hitPointWorld(m_hitPointWorld: btVector3): void;
}
class btCollisionShape {
setLocalScaling(scaling: btVector3): void;
getLocalScaling(): btVector3;
calculateLocalInertia(mass: number, inertia: btVector3): void;
setMargin(margin: number): void;
getMargin(): number;
}
class btConvexShape extends btCollisionShape {
}
class btConvexTriangleMeshShape extends btConvexShape {
constructor(meshInterface: btStridingMeshInterface, calcAabb?: boolean);
}
class btBoxShape extends btCollisionShape {
constructor(boxHalfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btCapsuleShape extends btCollisionShape {
constructor(radius: number, height: number);
setMargin(margin: number): void;
getMargin(): number;
getUpAxis(): number;
getRadius(): number;
getHalfHeight(): number;
}
class btCapsuleShapeX extends btCapsuleShape {
constructor(radius: number, height: number);
setMargin(margin: number): void;
getMargin(): number;
}
class btCapsuleShapeZ extends btCapsuleShape {
constructor(radius: number, height: number);
setMargin(margin: number): void;
getMargin(): number;
}
class btCylinderShape extends btCollisionShape {
constructor(halfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btCylinderShapeX extends btCylinderShape {
constructor(halfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btCylinderShapeZ extends btCylinderShape {
constructor(halfExtents: btVector3);
setMargin(margin: number): void;
getMargin(): number;
}
class btSphereShape extends btCollisionShape {
constructor(radius: number);
setMargin(margin: number): void;
getMargin(): number;
}
class btMultiSphereShape extends btCollisionShape {
constructor(positions: btVector3, radii: ReadonlyArray<number>, numPoints: number);
}
class btConeShape extends btCollisionShape {
constructor(radius: number, height: number);
}
class btConeShapeX extends btConeShape {
constructor(radius: number, height: number);
}
class btConeShapeZ extends btConeShape {
constructor(radius: number, height: number);
}
class btIntArray {
size(): number;
at(n: number): number;
}
class btFace {
get_m_indices(): btIntArray;
set_m_indices(m_indices: btIntArray): void;
get_m_plane(): ReadonlyArray<number>;
set_m_plane(m_plane: ReadonlyArray<number>): void;
}
class btVector3Array {
size(): number;
at(n: number): btVector3;
}
class btFaceArray {
size(): number;
at(n: number): btFace;
}
class btConvexPolyhedron {
get_m_vertices(): btVector3Array;
set_m_vertices(m_vertices: btVector3Array): void;
get_m_faces(): btFaceArray;
set_m_faces(m_faces: btFaceArray): void;
}
class btConvexHullShape extends btCollisionShape {
constructor(points?: ReadonlyArray<number>, numPoints?: number);
addPoint(point: btVector3, recalculateLocalAABB?: boolean): void;
setMargin(margin: number): void;
getMargin(): number;
getNumVertices(): number;
initializePolyhedralFeatures(shiftVerticesByMargin: number): boolean;
recalcLocalAabb(): void;
getConvexPolyhedron(): btConvexPolyhedron;
}
class btShapeHull {
constructor(shape: btConvexShape);
buildHull(margin: number): boolean;
numVertices(): number;
getVertexPointer(): btVector3;
}
class btCompoundShape extends btCollisionShape {
constructor(enableDynamicAabbTree?: boolean);
addChildShape(localTransform: btTransform, shape: btCollisionShape): void;
removeChildShape(shape: btCollisionShape): void;
removeChildShapeByIndex(childShapeindex: number): void;
getNumChildShapes(): number;
getChildShape(index: number): btCollisionShape;
updateChildTransform(childIndex: number, newChildTransform: btTransform, shouldRecalculateLocalAabb?: boolean): void;
setMargin(margin: number): void;
getMargin(): number;
}
class btStridingMeshInterface {
setScaling(scaling: btVector3): void;
}
class btIndexedMesh {
get_m_numTriangles(): number;
set_m_numTriangles(m_numTriangles: number): void;
}
class btIndexedMeshArray {
size(): number;
at(n: number): btIndexedMesh;
}
class btTriangleMesh extends btStridingMeshInterface {
constructor(use32bitIndices?: boolean, use4componentVertices?: boolean);
addTriangle(vertex0: btVector3, vertex1: btVector3, vertex2: btVector3, removeDuplicateVertices?: boolean): void;
findOrAddVertex(vertex: btVector3, removeDuplicateVertices: boolean): number;
addIndex(index: number): void;
getIndexedMeshArray(): btIndexedMeshArray;
}
type PHY_ScalarType = "PHY_FLOAT" | "PHY_DOUBLE" | "PHY_INTEGER" | "PHY_SHORT" | "PHY_FIXEDPOINT88" | "PHY_UCHAR";
class btConcaveShape extends btCollisionShape {
}
class btEmptyShape extends btConcaveShape {
constructor();
}
class btStaticPlaneShape extends btConcaveShape {
constructor(planeNormal: btVector3, planeConstant: number);
}
class btTriangleMeshShape extends btConcaveShape {
}
class btBvhTriangleMeshShape extends btTriangleMeshShape {
constructor(meshInterface: btStridingMeshInterface, useQuantizedAabbCompression: boolean, buildBvh?: boolean);
}
class btHeightfieldTerrainShape extends btConcaveShape {
constructor(heightStickWidth: number, heightStickLength: number, heightfieldData: unknown, heightScale: number, minHeight: number, maxHeight: number, upAxis: number, hdt: PHY_ScalarType, flipQuadEdges: boolean);
setMargin(margin: number): void;
getMargin(): number;
}
class btDefaultCollisionConstructionInfo {
constructor();
}
class btDefaultCollisionConfiguration {
constructor(info?: btDefaultCollisionConstructionInfo);
}
class btPersistentManifold {
constructor();
getBody0(): btCollisionObject;
getBody1(): btCollisionObject;
getNumContacts(): number;
getContactPoint(index: number): btManifoldPoint;
}
class btDispatcher {
getNumManifolds(): number;
getManifoldByIndexInternal(index: number): btPersistentManifold;
}
class btCollisionDispatcher extends btDispatcher {
constructor(conf: btDefaultCollisionConfiguration);
}
class btOverlappingPairCallback {
}
class btOverlappingPairCache {
setInternalGhostPairCallback(ghostPairCallback: btOverlappingPairCallback): void;
getNumOverlappingPairs(): number;
}
class btAxisSweep3 {
constructor(worldAabbMin: btVector3, worldAabbMax: btVector3, maxHandles?: number, pairCache?: btOverlappingPairCache, disableRaycastAccelerator?: boolean);
}
class btBroadphaseInterface {
getOverlappingPairCache(): btOverlappingPairCache;
}
class btCollisionConfiguration {
}
class btDbvtBroadphase extends btBroadphaseInterface {
constructor();
}
class btBroadphaseProxy {
get_m_collisionFilterGroup(): number;
set_m_collisionFilterGroup(m_collisionFilterGroup: number): void;
get_m_collisionFilterMask(): number;
set_m_collisionFilterMask(m_collisionFilterMask: number): void;
}
class btRigidBodyConstructionInfo {
constructor(mass: number, motionState: btMotionState, collisionShape: btCollisionShape, localInertia?: btVector3);
get_m_linearDamping(): number;
set_m_linearDamping(m_linearDamping: number): void;
get_m_angularDamping(): number;
set_m_angularDamping(m_angularDamping: number): void;
get_m_friction(): number;
set_m_friction(m_friction: number): void;
get_m_rollingFriction(): number;
set_m_rollingFriction(m_rollingFriction: number): void;
get_m_restitution(): number;
set_m_restitution(m_restitution: number): void;
get_m_linearSleepingThreshold(): number;
set_m_linearSleepingThreshold(m_linearSleepingThreshold: number): void;
get_m_angularSleepingThreshold(): number;
set_m_angularSleepingThreshold(m_angularSleepingThreshold: number): void;
get_m_additionalDamping(): boolean;
set_m_additionalDamping(m_additionalDamping: boolean): void;
get_m_additionalDampingFactor(): number;
set_m_additionalDampingFactor(m_additionalDampingFactor: number): void;
get_m_additionalLinearDampingThresholdSqr(): number;
set_m_additionalLinearDampingThresholdSqr(m_additionalLinearDampingThresholdSqr: number): void;
get_m_additionalAngularDampingThresholdSqr(): number;
set_m_additionalAngularDampingThresholdSqr(m_additionalAngularDampingThresholdSqr: number): void;
get_m_additionalAngularDampingFactor(): number;
set_m_additionalAngularDampingFactor(m_additionalAngularDampingFactor: number): void;
}
class btRigidBody extends btCollisionObject {
constructor(constructionInfo: btRigidBodyConstructionInfo);
getCenterOfMassTransform(): btTransform;
setCenterOfMassTransform(xform: btTransform): void;
setSleepingThresholds(linear: number, angular: number): void;
getLinearDamping(): number;
getAngularDamping(): number;
setDamping(lin_damping: number, ang_damping: number): void;
setMassProps(mass: number, inertia: btVector3): void;
getLinearFactor(): btVector3;
setLinearFactor(linearFactor: btVector3): void;
applyTorque(torque: btVector3): void;
applyLocalTorque(torque: btVector3): void;
applyForce(force: btVector3, rel_pos: btVector3): void;
applyCentralForce(force: btVector3): void;
applyCentralLocalForce(force: btVector3): void;
applyTorqueImpulse(torque: btVector3): void;
applyImpulse(impulse: btVector3, rel_pos: btVector3): void;
applyCentralImpulse(impulse: btVector3): void;
updateInertiaTensor(): void;
getLinearVelocity(): btVector3;
getAngularVelocity(): btVector3;
setLinearVelocity(lin_vel: btVector3): void;
setAngularVelocity(ang_vel: btVector3): void;
getMotionState(): btMotionState;
setMotionState(motionState: btMotionState): void;
getAngularFactor(): btVector3;
setAngularFactor(angularFactor: btVector3): void;
upcast(colObj: btCollisionObject): btRigidBody;
getAabb(aabbMin: btVector3, aabbMax: btVector3): void;
applyGravity(): void;
getGravity(): btVector3;
setGravity(acceleration: btVector3): void;
getBroadphaseProxy(): btBroadphaseProxy;
clearForces(): void;
}
class btConstraintSetting {
constructor();
get_m_tau(): number;
set_m_tau(m_tau: number): void;
get_m_damping(): number;
set_m_damping(m_damping: number): void;
get_m_impulseClamp(): number;
set_m_impulseClamp(m_impulseClamp: number): void;
}
class btTypedConstraint {
enableFeedback(needsFeedback: boolean): void;
getBreakingImpulseThreshold(): number;
setBreakingImpulseThreshold(threshold: number): void;
getParam(num: number, axis: number): number;
setParam(num: number, value: number, axis: number): void;
}
type btConstraintParams = "BT_CONSTRAINT_ERP" | "BT_CONSTRAINT_STOP_ERP" | "BT_CONSTRAINT_CFM" | "BT_CONSTRAINT_STOP_CFM";
class btPoint2PointConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, pivotInA: btVector3, pivotInB: btVector3);
constructor(rbA: btRigidBody, pivotInA: btVector3);
setPivotA(pivotA: btVector3): void;
setPivotB(pivotB: btVector3): void;
getPivotInA(): btVector3;
getPivotInB(): btVector3;
get_m_setting(): btConstraintSetting;
set_m_setting(m_setting: btConstraintSetting): void;
}
class btGeneric6DofConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform, useLinearFrameReferenceFrameA: boolean);
constructor(rbB: btRigidBody, frameInB: btTransform, useLinearFrameReferenceFrameB: boolean);
setLinearLowerLimit(linearLower: btVector3): void;
setLinearUpperLimit(linearUpper: btVector3): void;
setAngularLowerLimit(angularLower: btVector3): void;
setAngularUpperLimit(angularUpper: btVector3): void;
getFrameOffsetA(): btTransform;
}
class btGeneric6DofSpringConstraint extends btGeneric6DofConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform, useLinearFrameReferenceFrameA: boolean);
constructor(rbB: btRigidBody, frameInB: btTransform, useLinearFrameReferenceFrameB: boolean);
enableSpring(index: number, onOff: boolean): void;
setStiffness(index: number, stiffness: number): void;
setDamping(index: number, damping: number): void;
setEquilibriumPoint(index: number, val: number): void;
setEquilibriumPoint(index: number): void;
setEquilibriumPoint(): void;
}
class btSequentialImpulseConstraintSolver {
constructor();
}
class btConeTwistConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, rbAFrame: btTransform, rbBFrame: btTransform);
constructor(rbA: btRigidBody, rbAFrame: btTransform);
setLimit(limitIndex: number, limitValue: number): void;
setAngularOnly(angularOnly: boolean): void;
setDamping(damping: number): void;
enableMotor(b: boolean): void;
setMaxMotorImpulse(maxMotorImpulse: number): void;
setMaxMotorImpulseNormalized(maxMotorImpulse: number): void;
setMotorTarget(q: btQuaternion): void;
setMotorTargetInConstraintSpace(q: btQuaternion): void;
}
class btHingeConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, pivotInA: btVector3, pivotInB: btVector3, axisInA: btVector3, axisInB: btVector3, useReferenceFrameA?: boolean);
constructor(rbA: btRigidBody, rbB: btRigidBody, rbAFrame: btTransform, rbBFrame: btTransform, useReferenceFrameA?: boolean);
constructor(rbA: btRigidBody, rbAFrame: btTransform, useReferenceFrameA?: boolean);
setLimit(low: number, high: number, softness: number, biasFactor: number, relaxationFactor?: number): void;
enableAngularMotor(enableMotor: boolean, targetVelocity: number, maxMotorImpulse: number): void;
setAngularOnly(angularOnly: boolean): void;
enableMotor(enableMotor: boolean): void;
setMaxMotorImpulse(maxMotorImpulse: number): void;
setMotorTarget(targetAngle: number, dt: number): void;
}
class btSliderConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform, useLinearReferenceFrameA: boolean);
constructor(rbB: btRigidBody, frameInB: btTransform, useLinearReferenceFrameA: boolean);
setLowerLinLimit(lowerLimit: number): void;
setUpperLinLimit(upperLimit: number): void;
setLowerAngLimit(lowerAngLimit: number): void;
setUpperAngLimit(upperAngLimit: number): void;
}
class btFixedConstraint extends btTypedConstraint {
constructor(rbA: btRigidBody, rbB: btRigidBody, frameInA: btTransform, frameInB: btTransform);
}
class btConstraintSolver {
}
class btDispatcherInfo {
get_m_timeStep(): number;
set_m_timeStep(m_timeStep: number): void;
get_m_stepCount(): number;
set_m_stepCount(m_stepCount: number): void;
get_m_dispatchFunc(): number;
set_m_dispatchFunc(m_dispatchFunc: number): void;
get_m_timeOfImpact(): number;
set_m_timeOfImpact(m_timeOfImpact: number): void;
get_m_useContinuous(): boolean;
set_m_useContinuous(m_useContinuous: boolean): void;
get_m_enableSatConvex(): boolean;
set_m_enableSatConvex(m_enableSatConvex: boolean): void;
get_m_enableSPU(): boolean;
set_m_enableSPU(m_enableSPU: boolean): void;
get_m_useEpa(): boolean;
set_m_useEpa(m_useEpa: boolean): void;
get_m_allowedCcdPenetration(): number;
set_m_allowedCcdPenetration(m_allowedCcdPenetration: number): void;
get_m_useConvexConservativeDistanceUtil(): boolean;
set_m_useConvexConservativeDistanceUtil(m_useConvexConservativeDistanceUtil: boolean): void;
get_m_convexConservativeDistanceThreshold(): number;
set_m_convexConservativeDistanceThreshold(m_convexConservativeDistanceThreshold: number): void;
}
class btCollisionWorld {
getDispatcher(): btDispatcher;
rayTest(rayFromWorld: btVector3, rayToWorld: btVector3, resultCallback: RayResultCallback): void;
getPairCache(): btOverlappingPairCache;
getDispatchInfo(): btDispatcherInfo;
addCollisionObject(collisionObject: btCollisionObject, collisionFilterGroup?: number, collisionFilterMask?: number): void;
removeCollisionObject(collisionObject: btCollisionObject): void;
getBroadphase(): btBroadphaseInterface;
convexSweepTest(castShape: btConvexShape, from: btTransform, to: btTransform, resultCallback: ConvexResultCallback, allowedCcdPenetration: number): void;
contactPairTest(colObjA: btCollisionObject, colObjB: btCollisionObject, resultCallback: ContactResultCallback): void;
contactTest(colObj: btCollisionObject, resultCallback: ContactResultCallback): void;
updateSingleAabb(colObj: btCollisionObject): void;
setDebugDrawer(debugDrawer: btIDebugDraw): void;
getDebugDrawer(): btIDebugDraw;
debugDrawWorld(): void;
debugDrawObject(worldTransform: btTransform, shape: btCollisionShape, color: btVector3): void;
}
class btContactSolverInfo {
get_m_splitImpulse(): boolean;
set_m_splitImpulse(m_splitImpulse: boolean): void;
get_m_splitImpulsePenetrationThreshold(): number;
set_m_splitImpulsePenetrationThreshold(m_splitImpulsePenetrationThreshold: number): void;
get_m_numIterations(): number;
set_m_numIterations(m_numIterations: number): void;
}
type btInternalTickCallback = (world: btDynamicsWorld, timeStep: number) => void;
class btDynamicsWorld extends btCollisionWorld {
addAction(action: btActionInterface): void;
removeAction(action: btActionInterface): void;
getSolverInfo(): btContactSolverInfo;
setInternalTickCallback(cb: btInternalTickCallback, worldUserInfo?: unknown, isPreTick?: boolean): void;
}
class btDiscreteDynamicsWorld extends btDynamicsWorld {
constructor(dispatcher: btDispatcher, pairCache: btBroadphaseInterface, constraintSolver: btConstraintSolver, collisionConfiguration: btCollisionConfiguration);
setGravity(gravity: btVector3): void;
getGravity(): btVector3;
addRigidBody(body: btRigidBody): void;
addRigidBody(body: btRigidBody, group: number, mask: number): void;
removeRigidBody(body: btRigidBody): void;
addConstraint(constraint: btTypedConstraint, disableCollisionsBetweenLinkedBodies?: boolean): void;
removeConstraint(constraint: btTypedConstraint): void;
stepSimulation(timeStep: number, maxSubSteps?: number, fixedTimeStep?: number): number;
setContactAddedCallback(funcpointer: number): void;
setContactProcessedCallback(funcpointer: number): void;
setContactDestroyedCallback(funcpointer: number): void;
}
class btVehicleTuning {
constructor();
get_m_suspensionStiffness(): number;
set_m_suspensionStiffness(m_suspensionStiffness: number): void;
get_m_suspensionCompression(): number;
set_m_suspensionCompression(m_suspensionCompression: number): void;
get_m_suspensionDamping(): number;
set_m_suspensionDamping(m_suspensionDamping: number): void;
get_m_maxSuspensionTravelCm(): number;
set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
get_m_frictionSlip(): number;
set_m_frictionSlip(m_frictionSlip: number): void;
get_m_maxSuspensionForce(): number;
set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
}
class btVehicleRaycasterResult {
get_m_hitPointInWorld(): btVector3;
set_m_hitPointInWorld(m_hitPointInWorld: btVector3): void;
get_m_hitNormalInWorld(): btVector3;
set_m_hitNormalInWorld(m_hitNormalInWorld: btVector3): void;
get_m_distFraction(): number;
set_m_distFraction(m_distFraction: number): void;
}
class btVehicleRaycaster {
castRay(from: btVector3, to: btVector3, result: btVehicleRaycasterResult): void;
}
class btDefaultVehicleRaycaster extends btVehicleRaycaster {
constructor(world: btDynamicsWorld);
}
class RaycastInfo {
get_m_contactNormalWS(): btVector3;
set_m_contactNormalWS(m_contactNormalWS: btVector3): void;
get_m_contactPointWS(): btVector3;
set_m_contactPointWS(m_contactPointWS: btVector3): void;
get_m_suspensionLength(): number;
set_m_suspensionLength(m_suspensionLength: number): void;
get_m_hardPointWS(): btVector3;
set_m_hardPointWS(m_hardPointWS: btVector3): void;
get_m_wheelDirectionWS(): btVector3;
set_m_wheelDirectionWS(m_wheelDirectionWS: btVector3): void;
get_m_wheelAxleWS(): btVector3;
set_m_wheelAxleWS(m_wheelAxleWS: btVector3): void;
get_m_isInContact(): boolean;
set_m_isInContact(m_isInContact: boolean): void;
get_m_groundObject(): any;
set_m_groundObject(m_groundObject: any): void;
}
class btWheelInfoConstructionInfo {
get_m_chassisConnectionCS(): btVector3;
set_m_chassisConnectionCS(m_chassisConnectionCS: btVector3): void;
get_m_wheelDirectionCS(): btVector3;
set_m_wheelDirectionCS(m_wheelDirectionCS: btVector3): void;
get_m_wheelAxleCS(): btVector3;
set_m_wheelAxleCS(m_wheelAxleCS: btVector3): void;
get_m_suspensionRestLength(): number;
set_m_suspensionRestLength(m_suspensionRestLength: number): void;
get_m_maxSuspensionTravelCm(): number;
set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
get_m_wheelRadius(): number;
set_m_wheelRadius(m_wheelRadius: number): void;
get_m_suspensionStiffness(): number;
set_m_suspensionStiffness(m_suspensionStiffness: number): void;
get_m_wheelsDampingCompression(): number;
set_m_wheelsDampingCompression(m_wheelsDampingCompression: number): void;
get_m_wheelsDampingRelaxation(): number;
set_m_wheelsDampingRelaxation(m_wheelsDampingRelaxation: number): void;
get_m_frictionSlip(): number;
set_m_frictionSlip(m_frictionSlip: number): void;
get_m_maxSuspensionForce(): number;
set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
get_m_bIsFrontWheel(): boolean;
set_m_bIsFrontWheel(m_bIsFrontWheel: boolean): void;
}
class btWheelInfo {
get_m_suspensionStiffness(): number;
set_m_suspensionStiffness(m_suspensionStiffness: number): void;
get_m_frictionSlip(): number;
set_m_frictionSlip(m_frictionSlip: number): void;
get_m_engineForce(): number;
set_m_engineForce(m_engineForce: number): void;
get_m_rollInfluence(): number;
set_m_rollInfluence(m_rollInfluence: number): void;
get_m_suspensionRestLength1(): number;
set_m_suspensionRestLength1(m_suspensionRestLength1: number): void;
get_m_wheelsRadius(): number;
set_m_wheelsRadius(m_wheelsRadius: number): void;
get_m_wheelsDampingCompression(): number;
set_m_wheelsDampingCompression(m_wheelsDampingCompression: number): void;
get_m_wheelsDampingRelaxation(): number;
set_m_wheelsDampingRelaxation(m_wheelsDampingRelaxation: number): void;
get_m_steering(): number;
set_m_steering(m_steering: number): void;
get_m_maxSuspensionForce(): number;
set_m_maxSuspensionForce(m_maxSuspensionForce: number): void;
get_m_maxSuspensionTravelCm(): number;
set_m_maxSuspensionTravelCm(m_maxSuspensionTravelCm: number): void;
get_m_wheelsSuspensionForce(): number;
set_m_wheelsSuspensionForce(m_wheelsSuspensionForce: number): void;
get_m_bIsFrontWheel(): boolean;
set_m_bIsFrontWheel(m_bIsFrontWheel: boolean): void;
get_m_raycastInfo(): RaycastInfo;
set_m_raycastInfo(m_raycastInfo: RaycastInfo): void;
get_m_chassisConnectionPointCS(): btVector3;
set_m_chassisConnectionPointCS(m_chassisConnectionPointCS: btVector3): void;
constructor(ci: btWheelInfoConstructionInfo);
getSuspensionRestLength(): number;
updateWheel(chassis: btRigidBody, raycastInfo: RaycastInfo): void;
get_m_worldTransform(): btTransform;
set_m_worldTransform(m_worldTransform: btTransform): void;
get_m_wheelDirectionCS(): btVector3;
set_m_wheelDirectionCS(m_wheelDirectionCS: btVector3): void;
get_m_wheelAxleCS(): btVector3;
set_m_wheelAxleCS(m_wheelAxleCS: btVector3): void;
get_m_rotation(): number;
set_m_rotation(m_rotation: number): void;
get_m_deltaRotation(): number;
set_m_deltaRotation(m_deltaRotation: number): void;
get_m_brake(): number;
set_m_brake(m_brake: number): void;
get_m_clippedInvContactDotSuspension(): number;
set_m_clippedInvContactDotSuspension(m_clippedInvContactDotSuspension: number): void;
get_m_suspensionRelativeVelocity(): number;
set_m_suspensionRelativeVelocity(m_suspensionRelativeVelocity: number): void;
get_m_skidInfo(): number;
set_m_skidInfo(m_skidInfo: number): void;
}
class btActionInterface {
updateAction(collisionWorld: btCollisionWorld, deltaTimeStep: number): void;
}
class btKinematicCharacterController extends btActionInterface {
constructor(ghostObject: btPairCachingGhostObject, convexShape: btConvexShape, stepHeight: number, upAxis?: number);
setUpAxis(axis: number): void;
setWalkDirection(walkDirection: btVector3): void;
setVelocityForTimeInterval(velocity: btVector3, timeInterval: number): void;
warp(origin: btVector3): void;
preStep(collisionWorld: btCollisionWorld): void;
playerStep(collisionWorld: btCollisionWorld, dt: number): void;
setFallSpeed(fallSpeed: number): void;
setJumpSpeed(jumpSpeed: number): void;
setMaxJumpHeight(maxJumpHeight: number): void;
canJump(): boolean;
jump(): void;
setGravity(gravity: number): void;
getGravity(): number;
setMaxSlope(slopeRadians: number): void;
getMaxSlope(): number;
getGhostObject(): btPairCachingGhostObject;
setUseGhostSweepTest(useGhostObjectSweepTest: boolean): void;
onGround(): boolean;
setUpInterpolate(value: boolean): void;
}
class btRaycastVehicle extends btActionInterface {
constructor(tuning: btVehicleTuning, chassis: btRigidBody, raycaster: btVehicleRaycaster);
applyEngineForce(force: number, wheel: number): void;
setSteeringValue(steering: number, wheel: number): void;
getWheelTransformWS(wheelIndex: number): btTransform;
updateWheelTransform(wheelIndex: number, interpolatedTransform: boolean): void;
addWheel(connectionPointCS0: btVector3, wheelDirectionCS0: btVector3, wheelAxleCS: btVector3, suspensionRestLength: number, wheelRadius: number, tuning: btVehicleTuning, isFrontWheel: boolean): btWheelInfo;
getNumWheels(): number;
getRigidBody(): btRigidBody;
getWheelInfo(index: number): btWheelInfo;
setBrake(brake: number, wheelIndex: number): void;
setCoordinateSystem(rightIndex: number, upIndex: number, forwardIndex: number): void;
getCurrentSpeedKmHour(): number;
getChassisWorldTransform(): btTransform;
rayCast(wheel: btWheelInfo): number;
updateVehicle(step: number): void;
resetSuspension(): void;
getSteeringValue(wheel: number): number;
updateWheelTransformsWS(wheel: btWheelInfo, interpolatedTransform?: boolean): void;
setPitchControl(pitch: number): void;
updateSuspension(deltaTime: number): void;
updateFriction(timeStep: number): void;
getRightAxis(): number;
getUpAxis(): number;
getForwardAxis(): number;
getForwardVector(): btVector3;
getUserConstraintType(): number;
setUserConstraintType(userConstraintType: number): void;
setUserConstraintId(uid: number): void;
getUserConstraintId(): number;
}
class btGhostObject extends btCollisionObject {
constructor();
getNumOverlappingObjects(): number;
getOverlappingObject(index: number): btCollisionObject;
}
class btPairCachingGhostObject extends btGhostObject {
constructor();
}
class btGhostPairCallback {
constructor();
}
class btSoftBodyWorldInfo {
constructor();
get_air_density(): number;
set_air_density(air_density: number): void;
get_water_density(): number;
set_water_density(water_density: number): void;
get_water_offset(): number;
set_water_offset(water_offset: number): void;
get_m_maxDisplacement(): number;
set_m_maxDisplacement(m_maxDisplacement: number): void;
get_water_normal(): btVector3;
set_water_normal(water_normal: btVector3): void;
get_m_broadphase(): btBroadphaseInterface;
set_m_broadphase(m_broadphase: btBroadphaseInterface): void;
get_m_dispatcher(): btDispatcher;
set_m_dispatcher(m_dispatcher: btDispatcher): void;
get_m_gravity(): btVector3;
set_m_gravity(m_gravity: btVector3): void;
}
class Face {
get_m_n(): ReadonlyArray<Node>;
set_m_n(m_n: ReadonlyArray<Node>): void;
get_m_normal(): btVector3;
set_m_normal(m_normal: btVector3): void;
get_m_ra(): number;
set_m_ra(m_ra: number): void;
}
class tFaceArray {
size(): number;
at(n: number): Face;
}
class Node {
get_m_x(): btVector3;
set_m_x(m_x: btVector3): void;
get_m_q(): btVector3;
set_m_q(m_q: btVector3): void;
get_m_v(): btVector3;
set_m_v(m_v: btVector3): void;
get_m_f(): btVector3;
set_m_f(m_f: btVector3): void;
get_m_n(): btVector3;
set_m_n(m_n: btVector3): void;
get_m_im(): number;
set_m_im(m_im: number): void;
get_m_area(): number;
set_m_area(m_area: number): void;
}
class tNodeArray {
size(): number;
at(n: number): Node;
}
class Material {
get_m_kLST(): number;
set_m_kLST(m_kLST: number): void;
get_m_kAST(): number;
set_m_kAST(m_kAST: number): void;
get_m_kVST(): number;
set_m_kVST(m_kVST: number): void;
get_m_flags(): number;
set_m_flags(m_flags: number): void;
}
class tMaterialArray {
size(): number;
at(n: number): Material;
}
class Anchor {
get_m_node(): Node;
set_m_node(m_node: Node): void;
get_m_local(): btVector3;
set_m_local(m_local: btVector3): void;
get_m_body(): btRigidBody;
set_m_body(m_body: btRigidBody): void;
get_m_influence(): number;
set_m_influence(m_influence: number): void;
get_m_c0(): btMatrix3x3;
set_m_c0(m_c0: btMatrix3x3): void;
get_m_c1(): btVector3;
set_m_c1(m_c1: btVector3): void;
get_m_c2(): number;
set_m_c2(m_c2: number): void;
}
class tAnchorArray {
size(): number;
at(n: number): Anchor;
clear(): void;
push_back(val: Anchor): void;
pop_back(): void;
}
class Config {
get_kVCF(): number;
set_kVCF(kVCF: number): void;
get_kDP(): number;
set_kDP(kDP: number): void;
get_kDG(): number;
set_kDG(kDG: number): void;
get_kLF(): number;
set_kLF(kLF: number): void;
get_kPR(): number;
set_kPR(kPR: number): void;
get_kVC(): number;
set_kVC(kVC: number): void;
get_kDF(): number;
set_kDF(kDF: number): void;
get_kMT(): number;
set_kMT(kMT: number): void;
get_kCHR(): number;
set_kCHR(kCHR: number): void;
get_kKHR(): number;
set_kKHR(kKHR: number): void;
get_kSHR(): number;
set_kSHR(kSHR: number): void;
get_kAHR(): number;
set_kAHR(kAHR: number): void;
get_kSRHR_CL(): number;
set_kSRHR_CL(kSRHR_CL: number): void;
get_kSKHR_CL(): number;
set_kSKHR_CL(kSKHR_CL: number): void;
get_kSSHR_CL(): number;
set_kSSHR_CL(kSSHR_CL: number): void;
get_kSR_SPLT_CL(): number;
set_kSR_SPLT_CL(kSR_SPLT_CL: number): void;
get_kSK_SPLT_CL(): number;
set_kSK_SPLT_CL(kSK_SPLT_CL: number): void;
get_kSS_SPLT_CL(): number;
set_kSS_SPLT_CL(kSS_SPLT_CL: number): void;
get_maxvolume(): number;
set_maxvolume(maxvolume: number): void;
get_timescale(): number;
set_timescale(timescale: number): void;
get_viterations(): number;
set_viterations(viterations: number): void;
get_piterations(): number;
set_piterations(piterations: number): void;
get_diterations(): number;
set_diterations(diterations: number): void;
get_citerations(): number;
set_citerations(citerations: number): void;
get_collisions(): number;
set_collisions(collisions: number): void;
}
class btSoftBody extends btCollisionObject {
constructor(worldInfo: btSoftBodyWorldInfo, node_count: number, x: btVector3, m: ReadonlyArray<number>);
get_m_cfg(): Config;
set_m_cfg(m_cfg: Config): void;
get_m_nodes(): tNodeArray;
set_m_nodes(m_nodes: tNodeArray): void;
get_m_faces(): tFaceArray;
set_m_faces(m_faces: tFaceArray): void;
get_m_materials(): tMaterialArray;
set_m_materials(m_materials: tMaterialArray): void;
get_m_anchors(): tAnchorArray;
set_m_anchors(m_anchors: tAnchorArray): void;
checkLink(node0: number, node1: number): boolean;
checkFace(node0: number, node1: number, node2: number): boolean;
appendMaterial(): Material;
appendNode(x: btVector3, m: number): void;
appendLink(node0: number, node1: number, mat: Material, bcheckexist: boolean): void;
appendFace(node0: number, node1: number, node2: number, mat: Material): void;
appendTetra(node0: number, node1: number, node2: number, node3: number, mat: Material): void;
appendAnchor(node: number, body: btRigidBody, disableCollisionBetweenLinkedBodies: boolean, influence: number): void;
addForce(force: btVector3): void;
addForce(force: btVector3, node: number): void;
addAeroForceToNode(windVelocity: btVector3, nodeIndex: number): void;
getTotalMass(): number;
setTotalMass(mass: number, fromfaces: boolean): void;
setMass(node: number, mass: number): void;
transform(trs: btTransform): void;
translate(trs: btVector3): void;
rotate(rot: btQuaternion): void;
scale(scl: btVector3): void;
generateClusters(k: number, maxiterations?: number): number;
generateBendingConstraints(distance: number, mat: Material): number;
upcast(colObj: btCollisionObject): btSoftBody;
}
class btSoftBodyRigidBodyCollisionConfiguration extends btDefaultCollisionConfiguration {
constructor(info?: btDefaultCollisionConstructionInfo);
}
class btSoftBodySolver {
}
class btDefaultSoftBodySolver extends btSoftBodySolver {
constructor();
}
class btSoftBodyArray {
size(): number;
at(n: number): btSoftBody;
}
class btSoftRigidDynamicsWorld extends btDiscreteDynamicsWorld {
constructor(dispatcher: btDispatcher, pairCache: btBroadphaseInterface, constraintSolver: btConstraintSolver, collisionConfiguration: btCollisionConfiguration, softBodySolver: btSoftBodySolver);
addSoftBody(body: btSoftBody, collisionFilterGroup: number, collisionFilterMask: number): void;
removeSoftBody(body: btSoftBody): void;
removeCollisionObject(collisionObject: btCollisionObject): void;
getWorldInfo(): btSoftBodyWorldInfo;
getSoftBodyArray(): btSoftBodyArray;
}
class btSoftBodyHelpers {
constructor();
CreateRope(worldInfo: btSoftBodyWorldInfo, from: btVector3, to: btVector3, res: number, fixeds: number): btSoftBody;
CreatePatch(worldInfo: btSoftBodyWorldInfo, corner00: btVector3, corner10: btVector3, corner01: btVector3, corner11: btVector3, resx: number, resy: number, fixeds: number, gendiags: boolean): btSoftBody;
CreatePatchUV(worldInfo: btSoftBodyWorldInfo, corner00: btVector3, corner10: btVector3, corner01: btVector3, corner11: btVector3, resx: number, resy: number, fixeds: number, gendiags: boolean, tex_coords: ReadonlyArray<number>): btSoftBody;
CreateEllipsoid(worldInfo: btSoftBodyWorldInfo, center: btVector3, radius: btVector3, res: number): btSoftBody;
CreateFromTriMesh(worldInfo: btSoftBodyWorldInfo, vertices: ReadonlyArray<number>, triangles: ReadonlyArray<number>, ntriangles: number, randomizeConstraints: boolean): btSoftBody;
CreateFromConvexHull(worldInfo: btSoftBodyWorldInfo, vertices: btVector3, nvertices: number, randomizeConstraints: boolean): btSoftBody;
}
}
\ No newline at end of file
tsconfig.json
View file @ 6e17550e
......@@ -13,13 +13,15 @@
"strict": true, /* Enable all strict type-checking options. */
// "noImplicitAny": true, /* Raise error on expressions and declarations with an implied 'any' type. */
"strictNullChecks": false,
"allowSyntheticDefaultImports": true,
"esModuleInterop": true,
"skipLibCheck": true, /* Skip type checking of declaration files. */
"forceConsistentCasingInFileNames": true, /* Disallow inconsistently-cased references to the same file. */
"typeRoots": ["node_modules/ammojs-typed/ammo/ambient"]
},
"include": [
"src/**/*.ts"
],
, "libs/ammo.d.ts", "libs/ammo.d.ts" ],
"exclude": [
"node_modules"
]
......
webpack.config.js
View file @ 6e17550e
......@@ -22,7 +22,7 @@ module.exports = {
},
resolve: {
alias: {
'@': './src',
'@': './src'
},
extensions: ['.ts', '.js', 'tsx']
},
......@@ -34,6 +34,6 @@ module.exports = {
port: '0.0.0.0',
hot: true,
open: true,
port: 9016
port: 9017
}
}
\ No newline at end of file
yarn-error.log 0 → 100644
View file @ 6e17550e
Arguments:
/usr/local/bin/node /usr/local/bin/yarn add ammonjs
PATH:
/usr/local/bin:/usr/local/sbin:/Library/Frameworks/Python.framework/Versions/3.9/bin:/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin:/usr/local/sbin:/Library/Frameworks/Python.framework/Versions/3.9/bin
Yarn version:
1.22.10
Node version:
14.16.0
Platform:
darwin x64
Trace:
Error [ERR_TLS_CERT_ALTNAME_INVALID]: Hostname/IP does not match certificate's altnames: Host: registry.npm.org. is not in the cert's altnames: DNS:*.cloudwaysapps.com, DNS:cloudwaysapps.com
at Object.checkServerIdentity (tls.js:297:12)
at TLSSocket.onConnectSecure (_tls_wrap.js:1507:27)
at TLSSocket.emit (events.js:315:20)
at TLSSocket._finishInit (_tls_wrap.js:932:8)
at TLSWrap.ssl.onhandshakedone (_tls_wrap.js:706:12)
npm manifest:
{
"name": "threexoimocarstudy-20220809",
"version": "1.0.0",
"description": "three and oimo for car",
"main": "index.ts",
"scripts": {
"dev": "webpack-dev-server",
"build": "webpack"
},
"keywords": [
"three",
"oimo"
],
"author": "lightfish",
"license": "ISC",
"dependencies": {
"@types/three": "^0.143.0",
"oimo": "^1.0.9",
"three": "^0.143.0",
"ts-loader": "^9.3.1",
"typescript": "^4.7.4",
"webpack": "^5.74.0",
"webpack-cli": "^4.10.0",
"webpack-dev-server": "^4.9.3"
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