three.js/examples/jsm/physics/RapierPhysics.js

import { Clock, Vector3, Quaternion, Matrix4 } from 'three';

const RAPIER_PATH = 'https://cdn.skypack.dev/@dimforge/rapier3d-compat@0.17.3';

const frameRate = 60;

const _scale = new Vector3( 1, 1, 1 );
const ZERO = new Vector3();

let RAPIER = null;

function getShape( geometry ) {

	const parameters = geometry.parameters;

	// TODO change type to is*

	if ( geometry.type === 'RoundedBoxGeometry' ) {

		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 radius = parameters.radius !== undefined ? parameters.radius : 0.1;

		return RAPIER.ColliderDesc.roundCuboid( sx - radius, sy - radius, sz - radius, radius );

	} else 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;

		return RAPIER.ColliderDesc.cuboid( sx, sy, sz );

	} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {

		const radius = parameters.radius !== undefined ? parameters.radius : 1;
		return RAPIER.ColliderDesc.ball( radius );

	} else if ( geometry.type === 'CylinderGeometry' ) {

		const radius = parameters.radiusBottom !== undefined ? parameters.radiusBottom : 0.5;
		const length = parameters.height !== undefined ? parameters.height : 0.5;

		return RAPIER.ColliderDesc.cylinder( length / 2, radius );

	} else if ( geometry.type === 'CapsuleGeometry' ) {

		const radius = parameters.radius !== undefined ? parameters.radius : 0.5;
		const length = parameters.height !== undefined ? parameters.height : 0.5;

		return RAPIER.ColliderDesc.capsule( length / 2, radius );

	} else if ( geometry.type === 'BufferGeometry' ) {

		const vertices = [];
		const vertex = new Vector3();
		const position = geometry.getAttribute( 'position' );

		for ( let i = 0; i < position.count; i ++ ) {

			vertex.fromBufferAttribute( position, i );
			vertices.push( vertex.x, vertex.y, vertex.z );

		}

		// if the buffer is non-indexed, generate an index buffer
		const indices = geometry.getIndex() === null
			? Uint32Array.from( Array( parseInt( vertices.length / 3 ) ).keys() )
			: geometry.getIndex().array;

		return RAPIER.ColliderDesc.trimesh( vertices, indices );

	}

	return null;

}

/**
 * @classdesc Can be used to include Rapier as a Physics engine into
 * `three.js` apps. The API can be initialized via:
 * ```js
 * const physics = await RapierPhysics();
 * ```
 * The component automatically imports Rapier from a CDN so make sure
 * to use the component with an active Internet connection.
 *
 * @name RapierPhysics
 * @class
 * @hideconstructor
 * @three_import import { RapierPhysics } from 'three/addons/physics/RapierPhysics.js';
 */
async function RapierPhysics() {

	if ( RAPIER === null ) {

		RAPIER = await import( `${RAPIER_PATH}` );
		await RAPIER.init();

	}

	// Docs: https://rapier.rs/docs/api/javascript/JavaScript3D/

	const gravity = new Vector3( 0.0, - 9.81, 0.0 );
	const world = new RAPIER.World( gravity );

	const meshes = [];
	const meshMap = new WeakMap();

	const _vector = new Vector3();
	const _quaternion = new Quaternion();
	const _matrix = new Matrix4();

	function addScene( scene ) {

		scene.traverse( function ( child ) {

			if ( child.isMesh ) {

				const physics = child.userData.physics;

				if ( physics ) {

					addMesh( child, physics.mass, physics.restitution );

				}

			}

		} );

	}

	function addMesh( mesh, mass = 0, restitution = 0 ) {

		const shape = getShape( mesh.geometry );

		if ( shape === null ) return;

		shape.setMass( mass );
		shape.setRestitution( restitution );

		const { body, collider } = mesh.isInstancedMesh
			? createInstancedBody( mesh, mass, shape )
			: createBody( mesh.position, mesh.quaternion, mass, shape );

		if ( ! mesh.userData.physics ) mesh.userData.physics = {};

		mesh.userData.physics.body = body;
		mesh.userData.physics.collider = collider;

		if ( mass > 0 ) {

			meshes.push( mesh );
			meshMap.set( mesh, { body, collider } );

		}

	}

	function removeMesh( mesh ) {

		const index = meshes.indexOf( mesh );

		if ( index !== - 1 ) {

			meshes.splice( index, 1 );
			meshMap.delete( mesh );

			if ( ! mesh.userData.physics ) return;

			const body = mesh.userData.physics.body;
			const collider = mesh.userData.physics.collider;

			if ( body ) removeBody( body );
			if ( collider ) removeCollider( collider );

		}

	}

	function createInstancedBody( mesh, mass, shape ) {

		const array = mesh.instanceMatrix.array;

		const bodies = [];
		const colliders = [];

		for ( let i = 0; i < mesh.count; i ++ ) {

			const position = _vector.fromArray( array, i * 16 + 12 );
			const { body, collider } = createBody( position, null, mass, shape );
			bodies.push( body );
			colliders.push( collider );

		}

		return { body: bodies, collider: colliders };

	}

	function createBody( position, quaternion, mass, shape ) {

		const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
		desc.setTranslation( ...position );
		if ( quaternion !== null ) desc.setRotation( quaternion );

		const body = world.createRigidBody( desc );
		const collider = world.createCollider( shape, body );

		return { body, collider };

	}

	function removeBody( body ) {

		if ( Array.isArray( body ) ) {

			for ( let i = 0; i < body.length; i ++ ) {

				world.removeRigidBody( body[ i ] );

			}

		} else {

			world.removeRigidBody( body );

		}

	}

	function removeCollider( collider ) {

		if ( Array.isArray( collider ) ) {

			for ( let i = 0; i < collider.length; i ++ ) {

				world.removeCollider( collider[ i ] );

			}

		} else {

			world.removeCollider( collider );

		}

	}

	function setMeshPosition( mesh, position, index = 0 ) {

		let { body } = meshMap.get( mesh );

		if ( mesh.isInstancedMesh ) {

			body = body[ index ];

		}

		body.setAngvel( ZERO );
		body.setLinvel( ZERO );
		body.setTranslation( position );

	}

	function setMeshVelocity( mesh, velocity, index = 0 ) {

		let { body } = meshMap.get( mesh );

		if ( mesh.isInstancedMesh ) {

			body = body[ index ];

		}

		body.setLinvel( velocity );

	}

	function addHeightfield( mesh, width, depth, heights, scale ) {

		const shape = RAPIER.ColliderDesc.heightfield( width, depth, heights, scale );

		const bodyDesc = RAPIER.RigidBodyDesc.fixed();
		bodyDesc.setTranslation( mesh.position.x, mesh.position.y, mesh.position.z );
		bodyDesc.setRotation( mesh.quaternion );

		const body = world.createRigidBody( bodyDesc );
		world.createCollider( shape, body );

		if ( ! mesh.userData.physics ) mesh.userData.physics = {};
		mesh.userData.physics.body = body;

		return body;

	}

	//

	const clock = new Clock();

	function step() {

		world.timestep = clock.getDelta();
		world.step();

		//

		for ( let i = 0, l = meshes.length; i < l; i ++ ) {

			const mesh = meshes[ i ];

			if ( mesh.isInstancedMesh ) {

				const array = mesh.instanceMatrix.array;
				const { body: bodies } = meshMap.get( mesh );

				for ( let j = 0; j < bodies.length; j ++ ) {

					const body = bodies[ j ];

					const position = body.translation();
					_quaternion.copy( body.rotation() );

					_matrix.compose( position, _quaternion, _scale ).toArray( array, j * 16 );

				}

				mesh.instanceMatrix.needsUpdate = true;
				mesh.computeBoundingSphere();

			} else {

				const { body } = meshMap.get( mesh );

				mesh.position.copy( body.translation() );
				mesh.quaternion.copy( body.rotation() );

			}

		}

	}

	// animate

	setInterval( step, 1000 / frameRate );

	return {
		RAPIER,
		world,
		/**
		 * Adds the given scene to this physics simulation. Only meshes with a
		 * `physics` object in their {@link Object3D#userData} field will be honored.
		 * The object can be used to store the mass and restitution of the mesh. E.g.:
		 * ```js
		 * box.userData.physics = { mass: 1, restitution: 0 };
		 * ```
		 *
		 * @method
		 * @name RapierPhysics#addScene
		 * @param {Object3D} scene The scene or any type of 3D object to add.
		 */
		addScene: addScene,

		/**
		 * Adds the given mesh to this physics simulation.
		 *
		 * @method
		 * @name RapierPhysics#addMesh
		 * @param {Mesh} mesh The mesh to add.
		 * @param {number} [mass=0] The mass in kg of the mesh.
		 * @param {number} [restitution=0] The restitution/friction of the mesh.
		 */
		addMesh: addMesh,

		/**
		 * Removes the given mesh from this physics simulation.
		 *
		 * @method
		 * @name RapierPhysics#removeMesh
		 * @param {Mesh} mesh The mesh to remove.
		 */
		removeMesh: removeMesh,

		/**
		 * Set the position of the given mesh which is part of the physics simulation. Calling this
		 * method will reset the current simulated velocity of the mesh.
		 *
		 * @method
		 * @name RapierPhysics#setMeshPosition
		 * @param {Mesh} mesh The mesh to update the position for.
		 * @param {Vector3} position - The new position.
		 * @param {number} [index=0] - If the mesh is instanced, the index represents the instanced ID.
		 */
		setMeshPosition: setMeshPosition,

		/**
		 * Set the velocity of the given mesh which is part of the physics simulation.
		 *
		 * @method
		 * @name RapierPhysics#setMeshVelocity
		 * @param {Mesh} mesh The mesh to update the velocity for.
		 * @param {Vector3} velocity - The new velocity.
		 * @param {number} [index=0] - If the mesh is instanced, the index represents the instanced ID.
		 */
		setMeshVelocity: setMeshVelocity,

		/**
		 * Adds a heightfield terrain to the physics simulation.
		 * 
		 * @method
		 * @name RapierPhysics#addHeightfield
		 * @param {Mesh} mesh - The Three.js mesh representing the terrain.
		 * @param {number} width - The number of vertices along the width (x-axis) of the heightfield.
		 * @param {number} depth - The number of vertices along the depth (z-axis) of the heightfield.
		 * @param {Float32Array} heights - Array of height values for each vertex in the heightfield.
		 * @param {Object} scale - Scale factors for the heightfield dimensions.
		 * @param {number} scale.x - Scale factor for width.
		 * @param {number} scale.y - Scale factor for height.
		 * @param {number} scale.z - Scale factor for depth.
		 * @returns {RigidBody} The created Rapier rigid body for the heightfield.
		 */
		addHeightfield: addHeightfield

	};

}

export { RapierPhysics };