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+<!DOCTYPE html>
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+<html lang="en">
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+ <head>
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+ <title>Rapier.js terrain heightfield demo</title>
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+ <meta charset="utf-8">
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+ <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
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+ <link type="text/css" rel="stylesheet" href="main.css">
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+ <style>
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+ body {
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+ color: #333;
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+ }
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+ </style>
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+ </head>
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+ <body>
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+ <div id="container"></div>
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+ <div id="info">Rapier.js physics terrain heightfield demo</div>
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+
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+ <script type="importmap">
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+ {
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+ "imports": {
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+ "three": "../build/three.module.js",
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+ "three/addons/": "./jsm/"
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+ }
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+ }
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+ </script>
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+
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+ <script type="module">
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+
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+ import * as THREE from 'three';
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+ import Stats from 'three/addons/libs/stats.module.js';
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+ import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
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+ import { RapierPhysics } from 'three/addons/physics/RapierPhysics.js';
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+
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+ // Heightfield parameters
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+ const terrainWidthExtents = 100;
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+ const terrainDepthExtents = 100;
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+ const terrainWidth = 128;
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+ const terrainDepth = 128;
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+ const terrainHalfWidth = terrainWidth / 2;
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+ const terrainHalfDepth = terrainDepth / 2;
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+ const terrainMaxHeight = 8;
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+ const terrainMinHeight = - 2;
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+
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+ // Graphics variables
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+ let container, stats;
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+ let camera, scene, renderer;
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+ let terrainMesh;
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+ const clock = new THREE.Clock();
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+
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+ // Physics variables
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+ let physics;
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+ const dynamicObjects = [];
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+ let heightData = null;
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+
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+ let time = 0;
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+ const objectTimePeriod = 3;
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+ let timeNextSpawn = time + objectTimePeriod;
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+ const maxNumObjects = 30;
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+
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+ init();
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+
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+ async function init() {
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+
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+ heightData = generateHeight( terrainWidth, terrainDepth, terrainMinHeight, terrainMaxHeight );
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+ initGraphics();
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+ await initPhysics();
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+ // Start animation loop only after physics is initialized
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+ renderer.setAnimationLoop( animate );
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+
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+ }
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+
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+ function initGraphics() {
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+
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+ container = document.getElementById( 'container' );
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+ renderer = new THREE.WebGLRenderer( { antialias: true } );
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+ renderer.setPixelRatio( window.devicePixelRatio );
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+ renderer.setSize( window.innerWidth, window.innerHeight );
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+ // Remove setAnimationLoop from here since we'll start it after physics init
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+ renderer.shadowMap.enabled = true;
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+ container.appendChild( renderer.domElement );
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+
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+ stats = new Stats();
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+ stats.domElement.style.position = 'absolute';
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+ stats.domElement.style.top = '0px';
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+ container.appendChild( stats.domElement );
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+
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+ camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 2000 );
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+ scene = new THREE.Scene();
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+ scene.background = new THREE.Color( 0xbfd1e5 );
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+
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+ camera.position.y = heightData[ terrainHalfWidth + terrainHalfDepth * terrainWidth ] * ( terrainMaxHeight - terrainMinHeight ) + 5;
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+ camera.position.z = terrainDepthExtents / 2;
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+ camera.lookAt( 0, 0, 0 );
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+
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+ const controls = new OrbitControls( camera, renderer.domElement );
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+ controls.enableZoom = false;
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+
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+ const geometry = new THREE.PlaneGeometry( terrainWidthExtents, terrainDepthExtents, terrainWidth - 1, terrainDepth - 1 );
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+ geometry.rotateX( - Math.PI / 2 );
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+
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+ const vertices = geometry.attributes.position.array;
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+
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+ for ( let i = 0, j = 0, l = vertices.length; i < l; i ++, j += 3 ) {
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+
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+ vertices[ j + 1 ] = heightData[ i ];
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+
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+ }
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+
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+ geometry.computeVertexNormals();
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+
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+ const groundMaterial = new THREE.MeshPhongMaterial( { color: 0xC7C7C7 } );
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+ terrainMesh = new THREE.Mesh( geometry, groundMaterial );
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+ terrainMesh.receiveShadow = true;
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+ terrainMesh.castShadow = true;
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+ scene.add( terrainMesh );
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+
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+ const textureLoader = new THREE.TextureLoader();
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+ textureLoader.load( 'textures/grid.png', function ( texture ) {
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+
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+ texture.wrapS = THREE.RepeatWrapping;
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+ texture.wrapT = THREE.RepeatWrapping;
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+ texture.repeat.set( terrainWidth - 1, terrainDepth - 1 );
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+ groundMaterial.map = texture;
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+ groundMaterial.needsUpdate = true;
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+
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+ } );
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+
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+ const ambientLight = new THREE.AmbientLight( 0xbbbbbb );
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+ scene.add( ambientLight );
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+
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+ const light = new THREE.DirectionalLight( 0xffffff, 3 );
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+ light.position.set( 100, 100, 50 );
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+ light.castShadow = true;
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+ const dLight = 200;
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+ const sLight = dLight * 0.25;
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+ light.shadow.camera.left = - sLight;
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+ light.shadow.camera.right = sLight;
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+ light.shadow.camera.top = sLight;
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+ light.shadow.camera.bottom = - sLight;
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+ light.shadow.camera.near = dLight / 30;
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+ light.shadow.camera.far = dLight;
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+ light.shadow.mapSize.x = 1024 * 2;
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+ light.shadow.mapSize.y = 1024 * 2;
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+ scene.add( light );
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+
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+ window.addEventListener( 'resize', onWindowResize );
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+
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+ }
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+
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+ function onWindowResize() {
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+
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+ camera.aspect = window.innerWidth / window.innerHeight;
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+ camera.updateProjectionMatrix();
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+ renderer.setSize( window.innerWidth, window.innerHeight );
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+
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+ }
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+
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+ async function initPhysics() {
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+
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+ physics = await RapierPhysics();
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+
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+ // Create the terrain body using RapierPhysics module
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+ physics.addHeightfield( terrainMesh, terrainWidth - 1, terrainDepth - 1, heightData, { x: terrainWidthExtents, y: 1.0, z: terrainDepthExtents } );
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+
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+ // Continue with adding other dynamic objects as needed
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+
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+ }
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+
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+ function generateHeight( width, depth, minHeight, maxHeight ) {
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+
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+ const size = width * depth;
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+ const data = new Float32Array( size );
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+ const hRange = maxHeight - minHeight;
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+ const w2 = width / 2;
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+ const d2 = depth / 2;
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+ const phaseMult = 12;
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+ let p = 0;
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+
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+ for ( let j = 0; j < depth; j ++ ) {
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+
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+ for ( let i = 0; i < width; i ++ ) {
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+
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+ const radius = Math.sqrt( Math.pow( ( i - w2 ) / w2, 2.0 ) + Math.pow( ( j - d2 ) / d2, 2.0 ) );
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+ const height = ( Math.sin( radius * phaseMult ) + 1 ) * 0.5 * hRange + minHeight;
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+ data[ p ] = height;
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+ p ++;
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+
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+ }
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+
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+ }
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+
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+ return data;
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+
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+ }
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+
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+ function generateObject() {
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+
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+ const numTypes = 3; // cones not working
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+ const objectType = Math.ceil( Math.random() * numTypes );
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+ let threeObject = null;
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+ const objectSize = 3;
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+ let radius, height;
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+
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+ switch ( objectType ) {
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+
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+ case 1: // Sphere
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+ radius = 1 + Math.random() * objectSize;
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+ threeObject = new THREE.Mesh( new THREE.SphereGeometry( radius, 20, 20 ), createObjectMaterial() );
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+ break;
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+ case 2: // Box
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+ const sx = 1 + Math.random() * objectSize;
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+ const sy = 1 + Math.random() * objectSize;
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+ const sz = 1 + Math.random() * objectSize;
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+ threeObject = new THREE.Mesh( new THREE.BoxGeometry( sx, sy, sz, 1, 1, 1 ), createObjectMaterial() );
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+ break;
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+ case 3: // Cylinder
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+ radius = 1 + Math.random() * objectSize;
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+ height = 1 + Math.random() * objectSize;
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+ threeObject = new THREE.Mesh( new THREE.CylinderGeometry( radius, radius, height, 20, 1 ), createObjectMaterial() );
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+ break;
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+ default: // Cone
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+ radius = 1 + Math.random() * objectSize;
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+ height = 2 + Math.random() * objectSize;
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+ threeObject = new THREE.Mesh( new THREE.ConeGeometry( radius, height, 20, 2 ), createObjectMaterial() );
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+ break;
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+
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+ }
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+
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+ // Position objects higher and with more randomization to prevent clustering
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+ threeObject.position.set(
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+ ( Math.random() - 0.5 ) * terrainWidth * 0.6,
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+ terrainMaxHeight + objectSize + 15 + Math.random() * 5, // Even higher with randomization
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+ ( Math.random() - 0.5 ) * terrainDepth * 0.6
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+ );
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+
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+ const mass = objectSize * 5;
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+ const restitution = 0.3; // Add some bounciness
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+
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+ // Add to scene first
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+ scene.add( threeObject );
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+
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+ // Add physics to the object
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+ physics.addMesh( threeObject, mass, restitution );
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+
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+ // Store the object for later reference
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+ dynamicObjects.push( threeObject );
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+
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+ // Force a small delay before adding the next object
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+ timeNextSpawn = time + 0.5;
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+
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+ threeObject.receiveShadow = true;
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+ threeObject.castShadow = true;
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+
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+ }
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+
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+ function createObjectMaterial() {
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+
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+ const c = Math.floor( Math.random() * ( 1 << 24 ) );
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+ return new THREE.MeshPhongMaterial( { color: c } );
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+
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+ }
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+
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+ function animate() {
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+
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+ render();
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+ stats.update();
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+
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+ }
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+
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+ function render() {
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+
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+ const deltaTime = clock.getDelta();
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+
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+ // Generate new objects with a delay between them
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+ if ( dynamicObjects.length < maxNumObjects && time > timeNextSpawn ) {
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+
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+ // Generate object directly in this frame
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+ generateObject();
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+ // timeNextSpawn is now set in generateObject()
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+
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+ }
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+
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+ // Clean up objects that have fallen off the terrain
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+ for ( let i = dynamicObjects.length - 1; i >= 0; i -- ) {
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+
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+ const obj = dynamicObjects[ i ];
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+ if ( obj.position.y < terrainMinHeight - 10 ) {
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+
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+ // Remove from scene and physics world
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+ scene.remove( obj );
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+ dynamicObjects.splice( i, 1 );
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+
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+ }
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+
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+ }
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+
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+ updatePhysics();
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+ renderer.render( scene, camera );
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+ time += deltaTime;
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+
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+ }
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+
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+ function updatePhysics() {
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+
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+ // Check for objects that might need help with physics
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+ for ( let i = 0, il = dynamicObjects.length; i < il; i ++ ) {
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+
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+ const objThree = dynamicObjects[ i ];
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+
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+ // If object is not moving but should be (based on height), try to fix it
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+ if ( objThree.position.y > 1.0 ) {
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+
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+ // Check if physics body exists
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+ if ( objThree.userData && objThree.userData.physics && objThree.userData.physics.body ) {
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+
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+ const body = objThree.userData.physics.body;
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+
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+ // Make sure body is awake
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+ if ( typeof body.wakeUp === 'function' ) {
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+
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+ body.wakeUp();
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+
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+ }
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+
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+ // Check velocity and apply impulse if needed
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+ if ( typeof body.linvel === 'function' ) {
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+
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+ const velocity = body.linvel();
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+ const speed = Math.sqrt( velocity.x * velocity.x + velocity.y * velocity.y + velocity.z * velocity.z );
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+
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+ // If object is very slow, give it a stronger impulse
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+ if ( speed < 0.5 ) {
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+
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+ body.applyImpulse( { x: 0, y: - 2.0, z: 0 }, true );
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+
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+ }
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+
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+ }
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+
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+ } else {
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+
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+ // If the object doesn't have a physics body but should, recreate it
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+ const mass = 5; // Default mass
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+ const restitution = 0.3; // Default restitution
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+
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+ // Recreate physics for the object
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+ physics.addMesh( objThree, mass, restitution );
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+
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+ }
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+
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+ }
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+
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+ }
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+
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+ }
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+
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+ </script>
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+ </body>
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+</html>
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Andy Triboletti
