diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml new file mode 100644 index 0000000..b852035 --- /dev/null +++ b/.github/workflows/deploy.yml @@ -0,0 +1,49 @@ +name: Deploy + +on: + push: + branches: + - main + +jobs: + build: + name: Build + runs-on: ubuntu-latest + + steps: + - name: Checkout repo + uses: actions/checkout@v3 + + - name: Setup Node + uses: actions/setup-node@v3 + + - name: Install dependencies + run: npm ci + + - name: Build project + run: npm run build + + - name: Upload production-ready build files + uses: actions/upload-artifact@v3 + with: + name: production-files + path: ./dist + + deploy: + name: Deploy + needs: build + runs-on: ubuntu-latest + if: github.ref == 'refs/heads/main' + + steps: + - name: Download artifact + uses: actions/download-artifact@v3 + with: + name: production-files + path: ./dist + + - name: Deploy to GitHub Pages + uses: peaceiris/actions-gh-pages@v3 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: ./dist \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5a109f0 --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +/node_modules/ +dist +.idea diff --git a/README.md b/README.md new file mode 100644 index 0000000..d9a6d8d --- /dev/null +++ b/README.md @@ -0,0 +1,15 @@ + +# Rapier Three Trimesh Bug Example + +When experimenting with three.js and rapier3d, I noticed this problem. + +When two objects are both using a "trimesh" collider, they sometimes get stuck, even though the friction set to a low value. +This does not happen with "convexhull colliders" + +# The example + + + +```js + +``` \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..f7eb5bb --- /dev/null +++ b/index.html @@ -0,0 +1,13 @@ + + + + + + \ No newline at end of file diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 0000000..8af9c8a --- /dev/null +++ b/package-lock.json @@ -0,0 +1,894 @@ +{ + 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0000000..6f78836 --- /dev/null +++ b/src/index.ts @@ -0,0 +1,76 @@ +import {BoxGeometry, BufferGeometry, Material, Mesh, MeshStandardMaterial} from "three" +import {RigidBodyDesc} from "@dimforge/rapier3d"; +import {setupScene} from "./setupScene"; + +const rapier = await import("@dimforge/rapier3d") +const world = new rapier.World(new rapier.Vector3(0.0, -9.81, 0.0)) +const friction = Number(new URLSearchParams(document.location.search).get("friction") ?? "0.1") + +const {scene, renderer, camera, controls} = await setupScene(); + +function addSimulationObject(geometry: BufferGeometry, material: Material, rigidBodyDesc: RigidBodyDesc, colliderType: "trimesh" | "convexhull") { + const positions = geometry.getAttribute("position"); + const index = geometry.index; + if (index == null) throw new Error("Mesh geometry does not have indexes"); + + // Derive collider from three.js-geometry. I want to use "trimesh", + // but that does not seem to work correctly. The convexHull collider works as expected. + const colliderDesc = colliderType == "trimesh" + ? rapier.ColliderDesc.trimesh(new Float32Array(positions.array), new Uint32Array(index.array),) + : rapier.ColliderDesc.convexHull(new Float32Array(positions.array))!; + + const rigidBody = world.createRigidBody(rigidBodyDesc) + const collider = world.createCollider(colliderDesc, rigidBody) + collider.setFriction(friction) + const mesh = new Mesh(geometry, material); + mesh.castShadow = true + mesh.receiveShadow = true + scene.add(mesh); + return { + collider, + update() { + mesh.position.copy(rigidBody.translation()); + mesh.quaternion.copy(rigidBody.rotation()); + } + } +} + +const ground = addSimulationObject( + new BoxGeometry(5, 1, 5).rotateZ(0.2), + new MeshStandardMaterial({ + color: "white", + }), + rapier.RigidBodyDesc.fixed().setCcdEnabled(true), + "trimesh" +) + + +const triMeshCube = addSimulationObject( + new BoxGeometry(1, 1, 1).rotateZ(Math.PI / 5).translate(0, 5, 1), + new MeshStandardMaterial({ + color: "red", + }), + rapier.RigidBodyDesc.dynamic().setCcdEnabled(true), + "trimesh" +) + +const convexHullCube = addSimulationObject( + new BoxGeometry(1, 1, 1).rotateZ(Math.PI / 5).translate(0, 5, -1), + new MeshStandardMaterial({ + color: "green", + }), + rapier.RigidBodyDesc.dynamic().setCcdEnabled(true), + "convexhull" +) + +renderer.setAnimationLoop(() => { + world.step(); + ground.update() + triMeshCube.update() + convexHullCube.update() + controls.update() + renderer.render(scene, camera) +}) + + + diff --git a/src/setupScene.ts b/src/setupScene.ts new file mode 100644 index 0000000..3e02817 --- /dev/null +++ b/src/setupScene.ts @@ -0,0 +1,33 @@ +import {AmbientLight, PerspectiveCamera, Scene, SpotLight, WebGLRenderer} from "three"; +import {OrbitControls} from 'three/addons/controls/OrbitControls.js'; + + +function createSpotlight() { + const spotLight = new SpotLight("white", 50, 50, Math.PI / 3, Math.PI / 20); + spotLight.position.set(0, 20, 0) + spotLight.target.position.set(0, 0, 0) + spotLight.castShadow = true + return spotLight; +} + +export async function setupScene() { + const renderer = new WebGLRenderer() + renderer.shadowMap.enabled = true; + renderer.setSize(window.innerWidth, window.innerHeight) + document.body.append(renderer.domElement) + + const camera = new PerspectiveCamera( + 30, + window.innerWidth / window.innerHeight, + 0.1, + 10000 + ) + camera.position.set(0, 20, 20) + const controls = new OrbitControls(camera, renderer.domElement) + + const scene = new Scene() + scene.add(createSpotlight()) + scene.add(new AmbientLight("white", 0.2)) + + return {scene, renderer, camera, controls}; +} diff --git a/tsconfig.json b/tsconfig.json new file mode 100644 index 0000000..4ae594c --- /dev/null +++ b/tsconfig.json @@ -0,0 +1,9 @@ +{ + "compilerOptions": { + "target": "esnext", + "module": "esnext", /* Specify what module code is generated. */ + "moduleResolution": "bundler", + "strict": true, /* Enable all strict type-checking options. */ + "skipLibCheck": true /* Skip type checking all .d.ts files. */ + } +} diff --git a/vite.config.ts b/vite.config.ts new file mode 100644 index 0000000..8bafba1 --- /dev/null +++ b/vite.config.ts @@ -0,0 +1,9 @@ +import {defineConfig} from "vite"; +import wasm from 'vite-plugin-wasm' + +export default defineConfig({ + plugins: [wasm()], + build: { + target: "esnext" + } +}) \ No newline at end of file