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 type { ContactManifold } from "../contacts/ContactManifold";
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import type { ImpulseBody } from "./ImpulseBody";
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import { solveFrictionConstraint, warmStartFriction } from "./frictionConstraint";
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import {
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prepareNormalConstraint,
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solveNormalConstraint,
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warmStartNormal,
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} from "./normalConstraint";
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/**
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* 共享接触冲量求解器：法向 + 摩擦锥，可选热启动。
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* 人物胶囊不走此核（位置推出）；轮悬架 / 轮胎仍在车辆模块。
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*/
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export class ContactImpulseSolver {
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velocityIterations = 8; // 速度迭代次数
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warmStart = true; // 是否复用上一帧冲量做热启动
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/**
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* 对单个刚体与一组流形做速度级求解。
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* 顺序：准备 bias → 热启动 → 交替解法向 / 摩擦。
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*/
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solveVelocity(
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body: ImpulseBody,
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manifolds: ContactManifold[],
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dt: number,
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): void {
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if (!manifolds.length) return;
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// 写入弹性与穿透修正用的 biasVelocity
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for (const manifold of manifolds) {
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for (const point of manifold.contacts) {
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prepareNormalConstraint(body, manifold, point, dt);
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}
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}
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// 先施加缓存冲量，减少 resting 抖动
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if (this.warmStart) {
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for (const manifold of manifolds) {
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for (const point of manifold.contacts) {
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warmStartNormal(body, manifold, point);
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warmStartFriction(body, point);
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}
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}
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}
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// PGS：每轮先法向后摩擦
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for (let i = 0; i < this.velocityIterations; i++) {
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for (const manifold of manifolds) {
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for (const point of manifold.contacts) {
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solveNormalConstraint(body, manifold, point);
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solveFrictionConstraint(body, manifold, point);
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}
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}
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}
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}
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}
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@@ -0,0 +1,28 @@
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import type * as THREE from "three";
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/**
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* 接触冲量求解所需的刚体接口。
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*/
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export type ImpulseBody = {
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/** 世界质心位置。 */
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position: THREE.Vector3;
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/** 世界朝向。 */
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quaternion: THREE.Quaternion;
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/** 质量倒数。 */
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invMass: number;
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/** 局部惯量倒数对角元。 */
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invInertia: THREE.Vector3;
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/** 摩擦系数 μ；缺省由摩擦约束使用默认值。 */
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friction?: number;
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/** 弹性，0 不反弹，1 完全弹；缺省 0。 */
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restitution?: number;
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/**
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* 特征半尺寸（用于缩放接触 skin / 穿透 slop）。
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* 缺省按 CONTACT_REF_EXTENT，不缩放。
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*/
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characteristicExtent?: () => number;
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/** 读取世界点处速度：v + ω × r。 */
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getVelocityAtPoint(point: THREE.Vector3, out: THREE.Vector3): THREE.Vector3;
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/** 在世界点施加冲量（线速度 + 角速度）。 */
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applyImpulseAtPoint(impulse: THREE.Vector3, point: THREE.Vector3): void;
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};
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import * as THREE from "three";
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import { effectiveMass } from "../../utils/vehiclePhysics/vehicleMath";
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import type { ContactManifold } from "../contacts/ContactManifold";
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import type { ContactPoint } from "../contacts/ContactPoint";
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import type { ImpulseBody } from "./ImpulseBody";
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const DEFAULT_FRICTION = 0.6; // body.friction 未设时的库仑系数 μ
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const _r = new THREE.Vector3();
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const _gcross = new THREE.Vector3();
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const _local = new THREE.Vector3();
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const _world = new THREE.Vector3();
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const _invQuat = new THREE.Quaternion();
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const _vel = new THREE.Vector3();
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const _impulse = new THREE.Vector3();
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/** 热启动：施加上一帧累计的切向冲量。 */
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export function warmStartFriction(
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body: ImpulseBody,
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point: ContactPoint,
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): void {
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if (point.tangentImpulse1 === 0 && point.tangentImpulse2 === 0) return;
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_impulse.copy(point.tangent1).multiplyScalar(point.tangentImpulse1);
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_impulse.addScaledVector(point.tangent2, point.tangentImpulse2);
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body.applyImpulseAtPoint(_impulse, point.worldPoint);
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}
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/**
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* 解切向摩擦约束（库仑锥）。
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* 上限 maxF = μ · 法向冲量；超出则等比缩放两切向冲量。
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*/
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export function solveFrictionConstraint(
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body: ImpulseBody,
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_manifold: ContactManifold,
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point: ContactPoint,
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): void {
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const mu = body.friction ?? DEFAULT_FRICTION;
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const maxF = mu * point.normalImpulse;
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if (maxF <= 1e-8) {
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// 无法向压力则无摩擦
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point.tangentImpulse1 = 0;
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point.tangentImpulse2 = 0;
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return;
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}
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body.getVelocityAtPoint(point.worldPoint, _vel);
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const vt1 = _vel.dot(point.tangent1);
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const vt2 = _vel.dot(point.tangent2);
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const mass1 = effectiveMass(body, point.worldPoint, point.tangent1, _r, _gcross, _local, _world, _invQuat);
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const mass2 = effectiveMass(body, point.worldPoint, point.tangent2, _r, _gcross, _local, _world, _invQuat);
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// 累计切向冲量，使切向相对速度趋近 0
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const old1 = point.tangentImpulse1;
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const old2 = point.tangentImpulse2;
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point.tangentImpulse1 += mass1 > 0 ? -vt1 * mass1 : 0;
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point.tangentImpulse2 += mass2 > 0 ? -vt2 * mass2 : 0;
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// 钳到摩擦锥：‖λt‖ ≤ μ λn
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const magSq = point.tangentImpulse1 * point.tangentImpulse1 + point.tangentImpulse2 * point.tangentImpulse2;
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const maxSq = maxF * maxF;
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if (magSq > maxSq && magSq > 1e-12) {
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const scale = maxF / Math.sqrt(magSq);
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point.tangentImpulse1 *= scale;
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point.tangentImpulse2 *= scale;
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}
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// 只施加本轮增量
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const d1 = point.tangentImpulse1 - old1;
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const d2 = point.tangentImpulse2 - old2;
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if (d1 === 0 && d2 === 0) return;
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_impulse.copy(point.tangent1).multiplyScalar(d1).addScaledVector(point.tangent2, d2);
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body.applyImpulseAtPoint(_impulse, point.worldPoint);
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}
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import * as THREE from "three";
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import { effectiveMass } from "../../utils/vehiclePhysics/vehicleMath";
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import { CONTACT_REF_EXTENT } from "../contacts/ContactPoint";
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import type { ContactManifold } from "../contacts/ContactManifold";
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import type { ContactPoint } from "../contacts/ContactPoint";
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import type { ImpulseBody } from "./ImpulseBody";
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/** 下列为 CONTACT_REF_EXTENT 下的基准值；求解时按特征尺寸缩放。 */
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const PENETRATION_SLOP = 0.003; // 允许的残留穿透，小于此不修正
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const PENETRATION_BIAS_FACTOR = 0.05; // Baumgarte 系数
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const MAX_CORRECTION_VELOCITY = 0.04; // 穿透修正速度上限，避免弹飞
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const SUPPORT_BIAS_Y = 0.5; // 仅对偏竖直的支撑面做法向 bias
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const RESTITUTION_THRESHOLD = 0.1; // 接近静止时不再加弹性，避免微弹
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const _r = new THREE.Vector3();
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const _gcross = new THREE.Vector3();
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const _local = new THREE.Vector3();
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const _world = new THREE.Vector3();
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const _invQuat = new THREE.Quaternion();
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const _vel = new THREE.Vector3();
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const _impulse = new THREE.Vector3();
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function contactScale(body: ImpulseBody): number {
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const extent = body.characteristicExtent?.() ?? CONTACT_REF_EXTENT;
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return Math.max(1e-4, extent) / CONTACT_REF_EXTENT;
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}
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/**
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* 准备法向约束的 biasVelocity。
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* 含弹性目标分离速度，以及支撑面上的穿透位置修正。
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*/
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export function prepareNormalConstraint(
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body: ImpulseBody,
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manifold: ContactManifold,
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point: ContactPoint,
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dt: number,
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): void {
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point.biasVelocity = 0;
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const scale = contactScale(body);
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body.getVelocityAtPoint(point.worldPoint, _vel);
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const vn = _vel.dot(manifold.normal);
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const e = body.restitution ?? 0;
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if (e > 0 && vn < -RESTITUTION_THRESHOLD * scale) {
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// 目标分离速度 ≈ -e·vn；并入 bias 后 λ = -(vn - bias)·m ≈ (1+e)|vn|·m
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point.biasVelocity += -e * vn;
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}
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if (dt <= 1e-8) return;
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// 墙面等非支撑接触不做穿透 bias，减少侧向拉扯
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if (manifold.normal.y <= SUPPORT_BIAS_Y) return;
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const error = point.penetration - PENETRATION_SLOP * scale;
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if (error <= 0) return;
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point.biasVelocity += Math.min(
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error * PENETRATION_BIAS_FACTOR / dt,
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MAX_CORRECTION_VELOCITY * scale,
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);
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}
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/** 热启动：施加上一帧累计的法向冲量。 */
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export function warmStartNormal(
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body: ImpulseBody,
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manifold: ContactManifold,
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point: ContactPoint,
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): void {
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if (point.normalImpulse === 0) return;
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_impulse.copy(manifold.normal).multiplyScalar(point.normalImpulse);
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body.applyImpulseAtPoint(_impulse, point.worldPoint);
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}
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/**
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* 解法向非穿透约束。
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* 冲量累计且钳制为 ≥ 0（只推开、不拉回）。
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*/
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export function solveNormalConstraint(
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body: ImpulseBody,
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manifold: ContactManifold,
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point: ContactPoint,
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): void {
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const n = manifold.normal;
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body.getVelocityAtPoint(point.worldPoint, _vel);
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const vn = _vel.dot(n);
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const mass = effectiveMass(body, point.worldPoint, n, _r, _gcross, _local, _world, _invQuat);
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if (mass <= 0) return;
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// 使 vn 趋向 biasVelocity（弹性 + 穿透修正）
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const lambda = -(vn - point.biasVelocity) * mass;
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const old = point.normalImpulse;
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point.normalImpulse = Math.max(0, old + lambda);
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const applied = point.normalImpulse - old;
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if (applied === 0) return;
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_impulse.copy(n).multiplyScalar(applied);
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body.applyImpulseAtPoint(_impulse, point.worldPoint);
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}
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