chore(controller): three-player-controller als Ordner statt Submodul
Das Submodul zeigte auf GitHub, der eingetragene Stand 028c652 lag aber nur lokal vor: GitHub-Master ac39682 plus Showcase mit Figuren und launch.json. Frische Klone konnten den Controller deshalb nicht laden. Jetzt liegt dieser Stand als normaler Ordner im Repo, ohne Verweis auf GitHub. dist/ und node_modules/ im Controller bleiben ignoriert und werden wie bisher lokal gebaut. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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import * as THREE from "three";
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import { ContactManifold } from "./ContactManifold";
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import { ContactPoint } from "./ContactPoint";
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import { normalClass } from "./contactReducer";
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const MATCH_NORMAL = 0.95; // 法线点积低于此值视为不同流形
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const MATCH_DISTANCE = 0.08; // 局部接触点匹配距离上限
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/** findMatch 的命中结果。 */
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type MatchResult = {
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point: ContactPoint; // 上一帧匹配到的接触点
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normal: THREE.Vector3; // 上一帧流形法线
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};
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/**
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* 帧间接触点匹配，用于冲量热启动（warm start）。
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* 求解前 match 继承冲量；求解后 save 供下一帧使用。
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*/
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export class ContactCache {
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private prev: ContactManifold[] = []; // 上一帧流形快照
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/**
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* 将上一帧冲量拷到本帧对应接触点。
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* 无匹配、或支撑面 ↔ 墙面切换时清零，避免错误热启动。
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*/
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match(manifolds: ContactManifold[]): void {
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for (const manifold of manifolds) {
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for (const point of manifold.contacts) {
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const prev = this.findMatch(manifold.normal, point);
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if (!prev) {
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point.resetImpulses();
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continue;
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}
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// 法线类别突变（地面 ↔ 墙）时冲量不可复用
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const prevClass = normalClass(prev.normal);
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const nextClass = normalClass(manifold.normal);
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if (
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(prevClass === "support" && nextClass === "wall") ||
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(prevClass === "wall" && nextClass === "support")
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) {
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point.resetImpulses();
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continue;
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}
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point.normalImpulse = prev.point.normalImpulse;
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point.tangentImpulse1 = prev.point.tangentImpulse1;
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point.tangentImpulse2 = prev.point.tangentImpulse2;
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}
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}
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}
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/** 深拷贝本帧流形与接触冲量，供下一帧 match。 */
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save(manifolds: ContactManifold[]): void {
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this.prev = manifolds.map((src) => {
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const copy = new ContactManifold();
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copy.normal.copy(src.normal);
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copy.normalSum.copy(src.normalSum);
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copy.contacts = src.contacts.map((p) => {
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const c = new ContactPoint();
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c.copyFrom(p);
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return c;
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});
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return copy;
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});
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}
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/**
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* 在上一帧中找法线接近且局部点最近的接触。
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* 用刚体局部坐标匹配，避免物体移动后面世界点对不上。
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*/
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private findMatch(normal: THREE.Vector3, point: ContactPoint): MatchResult | null {
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let best: MatchResult | null = null;
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let bestDist = MATCH_DISTANCE * MATCH_DISTANCE;
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for (const manifold of this.prev) {
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if (manifold.normal.dot(normal) < MATCH_NORMAL) continue;
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for (const prev of manifold.contacts) {
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const d = prev.localPoint.distanceToSquared(point.localPoint);
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if (d < bestDist) {
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bestDist = d;
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best = { point: prev, normal: manifold.normal };
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}
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}
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}
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return best;
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}
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}
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import * as THREE from "three";
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import { ContactPoint } from "./ContactPoint";
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/** 同一法线簇下的接触点集合。 */
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export class ContactManifold {
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normal = new THREE.Vector3();
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normalSum = new THREE.Vector3();
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contacts: ContactPoint[] = [];
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clear(): void {
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this.contacts.length = 0;
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this.normal.set(0, 1, 0);
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this.normalSum.set(0, 0, 0);
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}
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}
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import * as THREE from "three";
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/** 标定用特征半尺寸；skin/slop 按 extent 相对此值缩放。 */
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export const CONTACT_REF_EXTENT = 0.2;
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export const CONTACT_SKIN = 0.002;
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/** 按刚体特征尺寸缩放接触皮肤，避免小物体相对厚度过大。 */
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export function contactSkinForExtent(extent: number): number {
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const s = Math.max(1e-4, extent) / CONTACT_REF_EXTENT;
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return CONTACT_SKIN * s;
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}
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export type RawContact = {
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point: THREE.Vector3;
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normal: THREE.Vector3;
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penetration: number;
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};
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/** 约束求解用的单个接触点。 */
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export class ContactPoint {
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worldPoint = new THREE.Vector3();
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localPoint = new THREE.Vector3();
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penetration = 0;
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biasVelocity = 0;
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normalImpulse = 0;
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tangentImpulse1 = 0;
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tangentImpulse2 = 0;
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tangent1 = new THREE.Vector3();
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tangent2 = new THREE.Vector3();
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copyFrom(other: ContactPoint): void {
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this.worldPoint.copy(other.worldPoint);
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this.localPoint.copy(other.localPoint);
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this.penetration = other.penetration;
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this.normalImpulse = other.normalImpulse;
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this.tangentImpulse1 = other.tangentImpulse1;
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this.tangentImpulse2 = other.tangentImpulse2;
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this.tangent1.copy(other.tangent1);
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this.tangent2.copy(other.tangent2);
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}
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resetImpulses(): void {
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this.normalImpulse = 0;
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this.tangentImpulse1 = 0;
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this.tangentImpulse2 = 0;
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}
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}
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import * as THREE from "three";
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import type { ImpulseBody } from "../solver/ImpulseBody";
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import { ContactManifold } from "./ContactManifold";
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import { ContactPoint, CONTACT_REF_EXTENT, contactSkinForExtent, type RawContact } from "./ContactPoint";
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const NORMAL_MERGE = 0.98; // 法线点积高于此值并入同一流形
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const MAX_POINTS = 4; // 单流形最多保留的接触点
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const SUPPORT_Y = 0.7; // ny 以上视为支撑面（地面）
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const WALL_Y = 0.35; // ny 以下视为墙面
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const _invQuat = new THREE.Quaternion();
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const _ab = new THREE.Vector3();
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const _ac = new THREE.Vector3();
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const _ap = new THREE.Vector3();
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const _n = new THREE.Vector3();
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/**
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* 将原始接触按法线聚类，并裁成至多 4 个支撑点。
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* 返回写入后的 out（长度收束为有效流形数）。
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*/
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export function reduceContacts(
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raw: RawContact[],
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count: number,
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body: ImpulseBody,
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out: ContactManifold[],
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): ContactManifold[] {
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for (const m of out) m.clear();
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let manifoldCount = 0;
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// 按法线合并进流形，并累计 normalSum
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const skin = contactSkinForExtent(body.characteristicExtent?.() ?? CONTACT_REF_EXTENT);
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for (let r = 0; r < count; r++) {
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const contact = raw[r];
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if (contact.penetration < -skin || contact.normal.lengthSq() < 1e-8) continue;
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_n.copy(contact.normal).normalize();
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let cluster = -1;
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for (let i = 0; i < manifoldCount; i++) {
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if (out[i].normal.dot(_n) > NORMAL_MERGE) {
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cluster = i;
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break;
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}
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}
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if (cluster < 0) {
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if (manifoldCount === out.length) {
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out.push(new ContactManifold());
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}
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cluster = manifoldCount;
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manifoldCount += 1;
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out[cluster].normalSum.copy(_n);
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out[cluster].normal.copy(_n);
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} else {
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out[cluster].normalSum.add(_n);
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out[cluster].normal.copy(out[cluster].normalSum).normalize();
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}
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out[cluster].contacts.push(makePoint(contact, body));
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}
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// 定稿法线、裁点、建切向基
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for (let i = 0; i < manifoldCount; i++) {
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const manifold = out[i];
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if (manifold.normalSum.lengthSq() < 1e-8) manifold.normal.set(0, 1, 0);
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else manifold.normal.copy(manifold.normalSum).normalize();
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if (manifold.contacts.length > MAX_POINTS) {
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manifold.contacts = pickSupportPoints(manifold.contacts);
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}
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for (const point of manifold.contacts) {
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buildTangents(manifold.normal, point);
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}
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}
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out.length = manifoldCount;
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stabilizeEdgeManifolds(out);
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return out;
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}
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/** 按法线竖直分量分类：支撑面 / 墙 / 斜面。 */
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export function normalClass(normal: THREE.Vector3): "support" | "wall" | "slant" {
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if (normal.y >= SUPPORT_Y) return "support";
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if (normal.y <= WALL_Y) return "wall";
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return "slant";
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}
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/**
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* 边角同时碰到地面与墙时丢掉斜面流形，避免错误推力。
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* 若没有支撑面，则把斜面法线抬到至少 SUPPORT_Y，减轻卡边抖动。
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*/
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function stabilizeEdgeManifolds(manifolds: ContactManifold[]): void {
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let hasSupport = false;
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let hasWall = false;
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for (const m of manifolds) {
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const cls = normalClass(m.normal);
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if (cls === "support") hasSupport = true;
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else if (cls === "wall") hasWall = true;
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}
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if (hasSupport && hasWall) {
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let write = 0;
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for (let i = 0; i < manifolds.length; i++) {
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if (normalClass(manifolds[i].normal) === "slant") continue;
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if (write !== i) manifolds[write] = manifolds[i];
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write += 1;
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}
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manifolds.length = write;
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return;
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}
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if (!hasSupport) {
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for (const m of manifolds) {
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if (normalClass(m.normal) !== "slant") continue;
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m.normal.y = Math.max(m.normal.y, SUPPORT_Y);
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m.normal.normalize();
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m.normalSum.copy(m.normal);
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for (const point of m.contacts) {
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buildTangents(m.normal, point);
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}
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}
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}
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}
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/** 由原始接触生成 ContactPoint，并写入刚体局部坐标（供帧间匹配）。 */
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function makePoint(raw: RawContact, body: ImpulseBody): ContactPoint {
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const point = new ContactPoint();
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point.worldPoint.copy(raw.point);
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point.penetration = raw.penetration;
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_invQuat.copy(body.quaternion).invert();
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point.localPoint.subVectors(raw.point, body.position).applyQuaternion(_invQuat);
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return point;
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}
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/**
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* 从过多接触点中挑最多 4 个：最深穿透 → 最远点 → 最大面积第三点 → 离平面最远第四点。
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* 用于稳定盒/车身 resting 接触。
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*/
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function pickSupportPoints(points: ContactPoint[]): ContactPoint[] {
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if (points.length <= MAX_POINTS) return points;
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// p0：穿透最深
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let i0 = 0;
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for (let i = 1; i < points.length; i++) {
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if (points[i].penetration > points[i0].penetration) i0 = i;
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}
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const p0 = points[i0];
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// p1：离 p0 最远
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let i1 = i0;
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let best = -1;
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for (let i = 0; i < points.length; i++) {
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const d = points[i].worldPoint.distanceToSquared(p0.worldPoint);
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if (d > best) {
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best = d;
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i1 = i;
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}
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}
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const p1 = points[i1];
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// p2：与 p0p1 构成面积最大
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let i2 = i0;
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best = -1;
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_ab.subVectors(p1.worldPoint, p0.worldPoint);
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for (let i = 0; i < points.length; i++) {
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_ap.subVectors(points[i].worldPoint, p0.worldPoint);
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const area = _ap.cross(_ab).lengthSq();
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if (area > best) {
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best = area;
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i2 = i;
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}
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}
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const p2 = points[i2];
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// p3：离 p0p1p2 平面最远（略加权穿透）
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let i3 = i0;
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best = -1;
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_ab.subVectors(p1.worldPoint, p0.worldPoint);
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_ac.subVectors(p2.worldPoint, p0.worldPoint);
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_n.copy(_ab).cross(_ac);
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for (let i = 0; i < points.length; i++) {
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if (i === i0 || i === i1 || i === i2) continue;
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_ap.subVectors(points[i].worldPoint, p0.worldPoint);
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const d = Math.abs(_ap.dot(_n));
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const score = d + points[i].penetration * 0.01;
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if (score > best) {
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best = score;
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i3 = i;
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}
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}
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const picked = [p0];
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if (i1 !== i0) picked.push(p1);
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if (i2 !== i0 && i2 !== i1) picked.push(p2);
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if (i3 !== i0 && i3 !== i1 && i3 !== i2 && picked.length < MAX_POINTS) picked.push(points[i3]);
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return picked;
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}
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/** 由流形法线构造正交切向基（摩擦两轴）。 */
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function buildTangents(normal: THREE.Vector3, point: ContactPoint): void {
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if (Math.abs(normal.y) < 0.99) point.tangent1.set(0, 1, 0).cross(normal);
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else point.tangent1.set(1, 0, 0).cross(normal); // 法线近竖直时换参考轴
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if (point.tangent1.lengthSq() < 1e-8) point.tangent1.set(0, 0, 1).cross(normal);
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point.tangent1.normalize();
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point.tangent2.copy(normal).cross(point.tangent1).normalize();
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}
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