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不规则的物体可以对每个三角面进行便利创建new AmmoLib.btBvhTriangleMeshShape形状
如果不重要的物体则可以计算盒子模型 来进行粗略的计算

代码：

interface VVector3 {x: number;y: number;z: number;
}
interface VTriangle {a: VVector3;b: VVector3;c: VVector3;
}const tempA = new Vector3();
const tempB = new Vector3();
const tempC = new Vector3();/*** 获取物体的每个面的数据*/
function getFaces(mesh: Mesh) {// mesh.updateWorldMatrix(true, true);const faces = [] as VTriangle[];const positionAttribute = mesh.geometry.getAttribute("position");for (let i = 0; i < positionAttribute.count; i += 3) {const a = tempA.fromBufferAttribute(positionAttribute, i);const b = tempB.fromBufferAttribute(positionAttribute, i + 1);const c = tempC.fromBufferAttribute(positionAttribute, i + 2);// a.applyMatrix4(mesh.matrixWorld);// b.applyMatrix4(mesh.matrixWorld);// c.applyMatrix4(mesh.matrixWorld);// faces.push(new Triangle(x, y, z));// 只提供数据生成具有xyz数据即可faces.push({a: { x: a.x, y: a.y, z: a.z },b: { x: b.x, y: b.y, z: b.z },c: { x: c.x, y: c.y, z: c.z },});}return faces;
}const _vec3_1 = new AmmoLib.btVector3(0, 0, 0);
const _vec3_2 = new AmmoLib.btVector3(0, 0, 0);
const _vec3_3 = new AmmoLib.btVector3(0, 0, 0);/**
* 便利几何的三角形面进行物理运算
*/
function addMeshByTriangle(mesh: Mesh,mass: number,info?: Info,useBvh?: boolean
) {const triangleMesh = new Ammo.btTriangleMesh();const faces = getFaces(mesh);for (let i = 0; i < faces.length; i++) {const face = faces[i];_vec3_1.setX(face.a.x);_vec3_1.setY(face.a.y);_vec3_1.setZ(face.a.z);_vec3_2.setX(face.b.x);_vec3_2.setY(face.b.y);_vec3_2.setZ(face.b.z);_vec3_3.setX(face.c.x);_vec3_3.setY(face.c.y);_vec3_3.setZ(face.c.z);triangleMesh.addTriangle(_vec3_1, _vec3_2, _vec3_3, true);}const shape = useBvh? new AmmoLib.btBvhTriangleMeshShape(triangleMesh, true, true): new AmmoLib.btConvexTriangleMeshShape(triangleMesh, true);shape.setMargin(0.05);handleMesh(mesh, mass, shape, info);
}function handleMesh(mesh: Mesh, mass: number, shape: any, info?: Info) {const position = mesh.position;const quaternion = mesh.quaternion;const transform = new AmmoLib.btTransform();transform.setIdentity();transform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z));transform.setRotation(new AmmoLib.btQuaternion(quaternion.x,quaternion.y,quaternion.z,quaternion.w));const motionState = new AmmoLib.btDefaultMotionState(transform);const localInertia = new AmmoLib.btVector3(0, 0, 0);shape.calculateLocalInertia(mass, localInertia);const rbInfo = new AmmoLib.btRigidBodyConstructionInfo(mass,motionState,shape,localInertia);const body = new AmmoLib.btRigidBody(rbInfo);setInfo(body, info);world.addRigidBody(body);mesh.userData.body = body;//质量小于0 则静止 适用地面/不动的物体if (mass > 0) {meshes.push(mesh);meshMap.set(mesh, body);}
}

完成AmmoPhysics助手代码 基于THREE.js的 AmmoPhysics 添加了不规则物三角面检测和box3检测

/** @Author: hongbin* @Date: 2023-01-27 19:55:34* @LastEditors: hongbin* @LastEditTime: 2023-03-10 13:20:27* @Description: 根据three的助手函数修改*/import { Box3, Box3Helper, Triangle, Vector3 } from "three";interface Info {/** 摩擦力 */friction?: number;/** 弹力 */restitution?: number;/** 阻力、衰减  linear damping, rotational damping */damping?: [number, number];/** 需要编程式移动物体 body.setActivationState(4) */needMove?: boolean;
}/*** @params Ammo 可以传入Ammo函数或已经加载完毕的Ammo实例*/
function AmmoPhysics(Ammo: any) {if (!Ammo) throw new Error("AmmoPhysics: Couldn't find Ammo.js");const AmmoLib = Ammo;const frameRate = 60;/*** Ammo 需要的变量*/const collisionConfiguration =new AmmoLib.btDefaultCollisionConfiguration();const dispatcher = new AmmoLib.btCollisionDispatcher(collisionConfiguration);const broadphase = new AmmoLib.btDbvtBroadphase();const solver = new AmmoLib.btSequentialImpulseConstraintSolver();const world = new AmmoLib.btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);world.setGravity(new AmmoLib.btVector3(0, -9.8, 0));const worldTransform = new AmmoLib.btTransform();//物体的形状 每个物理效果的物体都需要生成对应的形状function getShape(geometry: Mesh["geometry"]) {//@ts-ignoreconst parameters = geometry.parameters;// TODO change type to is*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 shape = new AmmoLib.btBoxShape(new AmmoLib.btVector3(sx, sy, sz));shape.setMargin(0.05);return shape;} else if (geometry.type === "SphereGeometry" ||geometry.type === "IcosahedronGeometry") {const radius =parameters.radius !== undefined ? parameters.radius : 1;const shape = new AmmoLib.btSphereShape(radius);shape.setMargin(0.05);return shape;}return null;}const meshes = [] as Array<Mesh | THREE.InstancedMesh>;const meshMap = new WeakMap();function addMesh(mesh: Mesh,/*** 质量小于0 则不动适用地面/不动的物体* @default 0*/mass = 0,info?: Info) {const shape = getShape(mesh.geometry);if (shape !== null) {//@ts-ignoreif (mesh.isInstancedMesh) {handleInstancedMesh(mesh, mass, shape);} else if (mesh.isMesh) {handleMesh(mesh, mass, shape, info);}}}function setInfo(body: any, info?: Info) {if (info) {const { friction, restitution, damping, needMove } = info;friction && body.setFriction(friction);restitution && body.setRestitution(restitution);damping && body.setDamping(...damping);needMove && body.setActivationState(4);}}function computeShape(mesh: Mesh) {const size = new Vector3();const box3 = new Box3().setFromObject(mesh);box3.getSize(size);const sx = size.x !== undefined ? size.x / 2 : 0.5;const sy = size.y !== undefined ? size.y / 2 : 0.5;const sz = size.z !== undefined ? size.z / 2 : 0.5;const shape = new AmmoLib.btBoxShape(new AmmoLib.btVector3(sx, sy, sz));shape.setMargin(0.05);return shape;}function addBox3Mesh(mesh: Mesh, mass: number, info?: Info) {//  计算形状const shape = computeShape(mesh);handleMesh(mesh, mass, shape, info);}const _vec3_1 = new AmmoLib.btVector3(0, 0, 0);const _vec3_2 = new AmmoLib.btVector3(0, 0, 0);const _vec3_3 = new AmmoLib.btVector3(0, 0, 0);/*** 便利几何的三角形面进行物理运算*/function addMeshByTriangle(mesh: Mesh,mass: number,info?: Info,useBvh?: boolean) {const triangleMesh = new Ammo.btTriangleMesh();const faces = getFaces(mesh);for (let i = 0; i < faces.length; i++) {const face = faces[i];_vec3_1.setX(face.a.x);_vec3_1.setY(face.a.y);_vec3_1.setZ(face.a.z);_vec3_2.setX(face.b.x);_vec3_2.setY(face.b.y);_vec3_2.setZ(face.b.z);_vec3_3.setX(face.c.x);_vec3_3.setY(face.c.y);_vec3_3.setZ(face.c.z);triangleMesh.addTriangle(_vec3_1, _vec3_2, _vec3_3, true);}const shape = useBvh? new AmmoLib.btBvhTriangleMeshShape(triangleMesh, true, true): new AmmoLib.btConvexTriangleMeshShape(triangleMesh, true);shape.setMargin(0.05);handleMesh(mesh, mass, shape, info);}function handleMesh(mesh: Mesh, mass: number, shape: any, info?: Info) {const position = mesh.position;const quaternion = mesh.quaternion;const transform = new AmmoLib.btTransform();transform.setIdentity();transform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z));transform.setRotation(new AmmoLib.btQuaternion(quaternion.x,quaternion.y,quaternion.z,quaternion.w));const motionState = new AmmoLib.btDefaultMotionState(transform);const localInertia = new AmmoLib.btVector3(0, 0, 0);shape.calculateLocalInertia(mass, localInertia);const rbInfo = new AmmoLib.btRigidBodyConstructionInfo(mass,motionState,shape,localInertia);const body = new AmmoLib.btRigidBody(rbInfo);setInfo(body, info);world.addRigidBody(body);mesh.userData.body = body;//质量小于0 则静止 适用地面/不动的物体if (mass > 0) {meshes.push(mesh);meshMap.set(mesh, body);}}function handleInstancedMesh(mesh: Mesh | THREE.InstancedMesh,mass: number,shape: any,info?: Info) {//@ts-ignoreconst array = mesh.instanceMatrix.array;const bodies = [];//@ts-ignorefor (let i = 0; i < mesh.count; i++) {const index = i * 16;const transform = new AmmoLib.btTransform();transform.setFromOpenGLMatrix(array.slice(index, index + 16));const motionState = new AmmoLib.btDefaultMotionState(transform);const localInertia = new AmmoLib.btVector3(0, 0, 0);shape.calculateLocalInertia(mass, localInertia);const rbInfo = new AmmoLib.btRigidBodyConstructionInfo(mass,motionState,shape,localInertia);const body = new AmmoLib.btRigidBody(rbInfo);setInfo(body, info);world.addRigidBody(body);bodies.push(body);}if (mass > 0) {meshes.push(mesh);meshMap.set(mesh, bodies);}}/*** 设置物体的位置*/function setMeshPosition(mesh: Mesh | THREE.InstancedMesh,position: THREE.Vector3,index = 0) {//@ts-ignoreif (mesh.isInstancedMesh) {const bodies = meshMap.get(mesh);const body = bodies[index];// body.setAngularVelocity(new AmmoLib.btVector3(0, 0, 0));// body.setLinearVelocity(new AmmoLib.btVector3(0, 0, 0));// worldTransform.setIdentity();worldTransform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z));body.setWorldTransform(worldTransform);} else if (mesh.isMesh) {const body = meshMap.get(mesh);// 获取当前每个向量的速度// const v = body.getLinearVelocity();// console.log(v.x(), v.y(), v.z());// 每次更新位置将速度归零 导致下落的时候前后移动 下坠速度被归零// body.setAngularVelocity(new AmmoLib.btVector3(0, 0, 0));// body.setLinearVelocity(new AmmoLib.btVector3(0, 0, 0));// setIdentity 初始状态 将旋转变换矩阵归一化，平移向量3个维度的分量归零// worldTransform.setIdentity();worldTransform.setOrigin(new AmmoLib.btVector3(position.x, position.y, position.z));body.setWorldTransform(worldTransform);}}/*** 设置物体的旋转角度*/function setMeshQuaternion(mesh: Mesh | THREE.InstancedMesh,quaternion: THREE.Quaternion,index = 0) {//@ts-ignoreif (mesh.isInstancedMesh) {const bodies = meshMap.get(mesh);const body = bodies[index];// body.setAngularVelocity(new AmmoLib.btVector3(0, 0, 0));// body.setLinearVelocity(new AmmoLib.btVector3(0, 0, 0));worldTransform.setIdentity();worldTransform.setOrigin(new AmmoLib.btQuaternion(quaternion.x,quaternion.y,quaternion.z,quaternion.w));body.setWorldTransform(worldTransform);} else if (mesh.isMesh) {const body = meshMap.get(mesh);body.setAngularVelocity(new AmmoLib.btVector3(0, 0, 0));// body.setLinearVelocity(new AmmoLib.btVector3(0, 0, 0));// setIdentity 初始状态 将旋转变换矩阵归一化，平移向量3个维度的分量归零// worldTransform.setIdentity();worldTransform.setRotation(new AmmoLib.btQuaternion(quaternion.x,quaternion.y,quaternion.z,quaternion.w));body.setWorldTransform(worldTransform);}}/*** 步骤模拟* delta 时间* precision int类型 计算的次数将一次变更拆分成多少分进行细腻的检测 开销随之变大* btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep= btScalar (1.)/ btScalar (60.)* 如果 maxSubSteps > 0，它将在 fixedTimeStep 之间插入运动*/function stepSimulation(delta: number, precision = 1) {world.stepSimulation(delta, precision);for (let i = 0, l = meshes.length; i < l; i++) {const mesh = meshes[i];//@ts-ignoreif (mesh.isInstancedMesh) {//@ts-ignoreconst array = mesh.instanceMatrix.array;const bodies = meshMap.get(mesh);for (let j = 0; j < bodies.length; j++) {const body = bodies[j];const motionState = body.getMotionState();motionState.getWorldTransform(worldTransform);const position = worldTransform.getOrigin();const quaternion = worldTransform.getRotation();compose(position, quaternion, array, j * 16);}//@ts-ignoremesh.instanceMatrix.needsUpdate = true;} else if (mesh.isMesh) {const body = meshMap.get(mesh);const motionState = body.getMotionState();if (motionState) {motionState.getWorldTransform(worldTransform);const position = worldTransform.getOrigin();const quaternion = worldTransform.getRotation();mesh.position.set(position.x(), position.y(), position.z());mesh.quaternion.set(quaternion.x(),quaternion.y(),quaternion.z(),quaternion.w());}}}}//let lastTime = 0;function step() {console.log(1);const time = performance.now();if (lastTime > 0) {const delta = (time - lastTime) / 1000;// console.time( 'world.step' );world.stepSimulation(delta, 10);// console.timeEnd( 'world.step' );}lastTime = time;//for (let i = 0, l = meshes.length; i < l; i++) {const mesh = meshes[i];//@ts-ignoreif (mesh.isInstancedMesh) {//@ts-ignoreconst array = mesh.instanceMatrix.array;const bodies = meshMap.get(mesh);for (let j = 0; j < bodies.length; j++) {const body = bodies[j];const motionState = body.getMotionState();motionState.getWorldTransform(worldTransform);const position = worldTransform.getOrigin();const quaternion = worldTransform.getRotation();compose(position, quaternion, array, j * 16);}//@ts-ignoremesh.instanceMatrix.needsUpdate = true;} else if (mesh.isMesh) {const body = meshMap.get(mesh);const motionState = body.getMotionState();motionState.getWorldTransform(worldTransform);const position = worldTransform.getOrigin();const quaternion = worldTransform.getRotation();mesh.position.set(position.x(), position.y(), position.z());mesh.quaternion.set(quaternion.x(),quaternion.y(),quaternion.z(),quaternion.w());}}}// animate// setInterval(step, 1000 / frameRate);return {/** 计算物体的box3形状进行物理运算 */addBox3Mesh,/** 通过计算物体的面进行物理运算 */addMeshByTriangle,addMesh,setMeshPosition,setMeshQuaternion,stepSimulation,};
}function compose(position: any, quaternion: any, array: any[], index: number) {const x = quaternion.x(),y = quaternion.y(),z = quaternion.z(),w = quaternion.w();const x2 = x + x,y2 = y + y,z2 = z + z;const xx = x * x2,xy = x * y2,xz = x * z2;const yy = y * y2,yz = y * z2,zz = z * z2;const wx = w * x2,wy = w * y2,wz = w * z2;array[index + 0] = 1 - (yy + zz);array[index + 1] = xy + wz;array[index + 2] = xz - wy;array[index + 3] = 0;array[index + 4] = xy - wz;array[index + 5] = 1 - (xx + zz);array[index + 6] = yz + wx;array[index + 7] = 0;array[index + 8] = xz + wy;array[index + 9] = yz - wx;array[index + 10] = 1 - (xx + yy);array[index + 11] = 0;array[index + 12] = position.x();array[index + 13] = position.y();array[index + 14] = position.z();array[index + 15] = 1;
}export { AmmoPhysics };interface VVector3 {x: number;y: number;z: number;
}
interface VTriangle {a: VVector3;b: VVector3;c: VVector3;
}const tempA = new Vector3();
const tempB = new Vector3();
const tempC = new Vector3();/*** 获取物体的每个面的数据*/
function getFaces(mesh: Mesh) {// mesh.updateWorldMatrix(true, true);const faces = [] as VTriangle[];const positionAttribute = mesh.geometry.getAttribute("position");for (let i = 0; i < positionAttribute.count; i += 3) {const a = tempA.fromBufferAttribute(positionAttribute, i);const b = tempB.fromBufferAttribute(positionAttribute, i + 1);const c = tempC.fromBufferAttribute(positionAttribute, i + 2);// a.applyMatrix4(mesh.matrixWorld);// b.applyMatrix4(mesh.matrixWorld);// c.applyMatrix4(mesh.matrixWorld);// faces.push(new Triangle(x, y, z));// 只提供数据生成具有xyz数据即可faces.push({a: { x: a.x, y: a.y, z: a.z },b: { x: b.x, y: b.y, z: b.z },c: { x: c.x, y: c.y, z: c.z },});}return faces;
}