summit/frontend/node_modules/three-stdlib/physics/AmmoPhysics.js

async function AmmoPhysics() {
  if ("Ammo" in window === false) {
    console.error("AmmoPhysics: Couldn't find Ammo.js");
    return;
  }
  const AmmoLib = await Ammo();
  const frameRate = 60;
  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();
  function getShape(geometry) {
    const parameters = geometry.parameters;
    if (geometry.type === "BoxGeometry") {
      const sx = parameters.width !== void 0 ? parameters.width / 2 : 0.5;
      const sy = parameters.height !== void 0 ? parameters.height / 2 : 0.5;
      const sz = parameters.depth !== void 0 ? 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 !== void 0 ? parameters.radius : 1;
      const shape = new AmmoLib.btSphereShape(radius);
      shape.setMargin(0.05);
      return shape;
    }
    return null;
  }
  const meshes = [];
  const meshMap = /* @__PURE__ */ new WeakMap();
  function addMesh(mesh, mass = 0) {
    const shape = getShape(mesh.geometry);
    if (shape !== null) {
      if (mesh.isInstancedMesh) {
        handleInstancedMesh(mesh, mass, shape);
      } else if (mesh.isMesh) {
        handleMesh(mesh, mass, shape);
      }
    }
  }
  function handleMesh(mesh, mass, shape) {
    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);
    world.addRigidBody(body);
    if (mass > 0) {
      meshes.push(mesh);
      meshMap.set(mesh, body);
    }
  }
  function handleInstancedMesh(mesh, mass, shape) {
    const array = mesh.instanceMatrix.array;
    const bodies = [];
    for (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);
      world.addRigidBody(body);
      bodies.push(body);
    }
    if (mass > 0) {
      mesh.instanceMatrix.setUsage(35048);
      meshes.push(mesh);
      meshMap.set(mesh, bodies);
    }
  }
  function setMeshPosition(mesh, position, index = 0) {
    if (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);
      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);
    }
  }
  let lastTime = 0;
  function step() {
    const time = performance.now();
    if (lastTime > 0) {
      const delta = (time - lastTime) / 1e3;
      world.stepSimulation(delta, 10);
    }
    lastTime = time;
    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];
          const motionState = body.getMotionState();
          motionState.getWorldTransform(worldTransform);
          const position = worldTransform.getOrigin();
          const quaternion = worldTransform.getRotation();
          compose(position, quaternion, array, j * 16);
        }
        mesh.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());
      }
    }
  }
  setInterval(step, 1e3 / frameRate);
  return {
    addMesh,
    setMeshPosition
    // addCompoundMesh
  };
}
function compose(position, quaternion, array, index) {
  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
};
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