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>
This commit is contained in:
knsoandClaude Opus 5 committed
1 parent
780e246fe5
commit
fb38652e7f
153 files changed
+42561
-4
No files matched your search
@@ -0,0 +1,485 @@
|
||||
import * as THREE from "three";
|
||||
import { VehicleCollision } from "./VehicleCollision";
|
||||
import { ContactCache } from "../../collision/contacts/ContactCache";
|
||||
import { ContactImpulseSolver } from "../../collision/solver/ContactImpulseSolver";
|
||||
import { effectiveMass } from "./vehicleMath";
|
||||
import type { VehicleRigidBody } from "./VehicleRigidBody";
|
||||
import { VehicleWheel } from "./VehicleWheel";
|
||||
|
||||
const SIDE_DAMPING_RATE = 13; // 侧向速度阻尼率（1/s）
|
||||
const FWD_FACTOR = 0.5; // 摩擦椭圆纵向权重
|
||||
const SIDE_FACTOR = 1.0; // 摩擦椭圆侧向权重
|
||||
|
||||
/** 基于 three-mesh-bvh 射线与轻量刚体的 Raycast Vehicle 求解器。 */
|
||||
export class BVHVehicleController {
|
||||
readonly chassis: VehicleRigidBody; // 车身刚体
|
||||
readonly wheels: VehicleWheel[] = []; // 车轮列表
|
||||
|
||||
private collider: THREE.Mesh[] = []; // 场景碰撞网格
|
||||
private collision = new VehicleCollision();
|
||||
private contactSolver = new ContactImpulseSolver();
|
||||
private contactCache = new ContactCache();
|
||||
private raycaster = new THREE.Raycaster();
|
||||
private prevPosition = new THREE.Vector3();
|
||||
private prevQuaternion = new THREE.Quaternion();
|
||||
private normalMat = new THREE.Matrix3();
|
||||
private steerAxis = new THREE.Vector3();
|
||||
private steerQuat = new THREE.Quaternion();
|
||||
private vel = new THREE.Vector3();
|
||||
private impulse = new THREE.Vector3();
|
||||
private r = new THREE.Vector3();
|
||||
private gcross = new THREE.Vector3();
|
||||
private local = new THREE.Vector3();
|
||||
private world = new THREE.Vector3();
|
||||
private invQuat = new THREE.Quaternion();
|
||||
private upWS = new THREE.Vector3();
|
||||
private sidePoint = new THREE.Vector3();
|
||||
|
||||
/** 绑定车身刚体，可选传入场景碰撞网格。 */
|
||||
constructor(chassis: VehicleRigidBody, collider?: THREE.Mesh | THREE.Mesh[] | null) {
|
||||
this.chassis = chassis;
|
||||
this.collider = this.toColliderList(collider);
|
||||
(this.raycaster as any).firstHitOnly = true;
|
||||
}
|
||||
|
||||
/** 设置场景碰撞网格。 */
|
||||
setCollider(collider: THREE.Mesh | THREE.Mesh[] | null | undefined): void {
|
||||
this.collider = this.toColliderList(collider);
|
||||
}
|
||||
|
||||
/** 返回车轮数量。 */
|
||||
numWheels(): number {
|
||||
return this.wheels.length;
|
||||
}
|
||||
|
||||
// ==================== 轮子参数 ====================
|
||||
|
||||
/** 添加车轮并写入悬挂几何。 */
|
||||
addWheel(
|
||||
chassisConnectionCs: THREE.Vector3,
|
||||
directionCs: THREE.Vector3,
|
||||
axleCs: THREE.Vector3,
|
||||
suspensionRestLength: number,
|
||||
radius: number,
|
||||
): VehicleWheel {
|
||||
const wheel = new VehicleWheel();
|
||||
wheel.connectionPoint.copy(chassisConnectionCs);
|
||||
wheel.direction.copy(directionCs);
|
||||
wheel.axle.copy(axleCs);
|
||||
wheel.restLength = suspensionRestLength;
|
||||
wheel.suspensionLength = suspensionRestLength;
|
||||
wheel.visualLength = suspensionRestLength;
|
||||
wheel.maxSuspensionTravel = suspensionRestLength;
|
||||
wheel.radius = radius;
|
||||
this.wheels.push(wheel);
|
||||
return wheel;
|
||||
}
|
||||
|
||||
/** 设置悬挂与底盘的局部连接点。 */
|
||||
setWheelChassisConnectionPointCs(i: number, value: THREE.Vector3): void {
|
||||
this.wheelAt(i)?.connectionPoint.copy(value);
|
||||
}
|
||||
|
||||
/** 设置悬挂方向（底盘局部）。 */
|
||||
setWheelDirectionCs(i: number, value: THREE.Vector3): void {
|
||||
this.wheelAt(i)?.direction.copy(value);
|
||||
}
|
||||
|
||||
/** 设置轮轴方向（底盘局部）。 */
|
||||
setWheelAxleCs(i: number, value: THREE.Vector3): void {
|
||||
this.wheelAt(i)?.axle.copy(value);
|
||||
}
|
||||
|
||||
/** 设置悬挂静止长度。 */
|
||||
setWheelSuspensionRestLength(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.restLength = value;
|
||||
}
|
||||
|
||||
/** 设置轮胎半径。 */
|
||||
setWheelRadius(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.radius = value;
|
||||
}
|
||||
|
||||
/** 设置悬挂最大行程。 */
|
||||
setWheelMaxSuspensionTravel(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.maxSuspensionTravel = value;
|
||||
}
|
||||
|
||||
/** 设置悬挂刚度。 */
|
||||
setWheelSuspensionStiffness(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.stiffness = value;
|
||||
}
|
||||
|
||||
/** 设置压缩阻尼。 */
|
||||
setWheelSuspensionCompression(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.dampingCompression = value;
|
||||
}
|
||||
|
||||
/** 设置回弹阻尼。 */
|
||||
setWheelSuspensionRelaxation(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.dampingRelaxation = value;
|
||||
}
|
||||
|
||||
/** 设置最大悬挂力。 */
|
||||
setWheelMaxSuspensionForce(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.maxSuspensionForce = value;
|
||||
}
|
||||
|
||||
/** 设置制动力。 */
|
||||
setWheelBrake(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.brake = value;
|
||||
}
|
||||
|
||||
/** 设置转向角。 */
|
||||
setWheelSteering(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.steering = value;
|
||||
}
|
||||
|
||||
/** 设置驱动力。 */
|
||||
setWheelEngineForce(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.engineForce = value;
|
||||
}
|
||||
|
||||
/** 设置纵向抓地。 */
|
||||
setWheelFrictionSlip(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.frictionSlip = value;
|
||||
}
|
||||
|
||||
/** 设置侧向摩擦。 */
|
||||
setWheelSideFrictionStiffness(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.sideFrictionStiffness = value;
|
||||
}
|
||||
|
||||
/** 设置侧向力对侧倾的影响，0 为几乎不侧倾，1 为按真实触地点侧倾。 */
|
||||
setWheelRollInfluence(i: number, value: number): void {
|
||||
const wheel = this.wheelAt(i);
|
||||
if (wheel) wheel.rollInfluence = value;
|
||||
}
|
||||
|
||||
/** 读取转向角。 */
|
||||
wheelSteering(i: number): number | null {
|
||||
return this.wheelAt(i)?.steering ?? null;
|
||||
}
|
||||
|
||||
/** 读取是否接地。 */
|
||||
wheelIsInContact(i: number): boolean {
|
||||
return this.wheelAt(i)?.isInContact ?? false;
|
||||
}
|
||||
|
||||
/** 读取轮轴方向（底盘局部）。 */
|
||||
wheelAxleCs(i: number): THREE.Vector3 | null {
|
||||
return this.wheelAt(i)?.axle ?? null;
|
||||
}
|
||||
|
||||
/** 读取悬挂与底盘的局部连接点。 */
|
||||
wheelChassisConnectionPointCs(i: number): THREE.Vector3 | null {
|
||||
return this.wheelAt(i)?.connectionPoint ?? null;
|
||||
}
|
||||
|
||||
/** 读取当前悬挂长度。 */
|
||||
wheelSuspensionLength(i: number): number | null {
|
||||
return this.wheelAt(i)?.suspensionLength ?? null;
|
||||
}
|
||||
|
||||
/** 读取视觉悬挂长度。 */
|
||||
wheelVisualLength(i: number): number | null {
|
||||
return this.wheelAt(i)?.visualLength ?? null;
|
||||
}
|
||||
|
||||
/** 读取车轮自转角。 */
|
||||
wheelRotation(i: number): number | null {
|
||||
return this.wheelAt(i)?.rotation ?? null;
|
||||
}
|
||||
|
||||
/** 读取接地网格。 */
|
||||
wheelContactMesh(i: number): THREE.Mesh | null {
|
||||
return this.wheelAt(i)?.contactMesh ?? null;
|
||||
}
|
||||
|
||||
// ==================== 仿真步进 ====================
|
||||
|
||||
/** 推进一帧：悬挂与轮胎力 → 车身接触 → 积分 → CCD。 */
|
||||
updateVehicle(dt: number, collider?: THREE.Mesh | THREE.Mesh[] | null): void {
|
||||
if (collider !== undefined) this.collider = this.toColliderList(collider);
|
||||
const clampedDt = Math.max(0, dt);
|
||||
if (clampedDt === 0) return;
|
||||
|
||||
this.prevPosition.copy(this.chassis.position);
|
||||
this.prevQuaternion.copy(this.chassis.quaternion);
|
||||
this.updateWheelTransforms();
|
||||
this.chassis.applyGravity(clampedDt); // 重力
|
||||
this.raycastWheels(); // 轮子向下射线
|
||||
this.solveSuspension(); // 悬挂弹簧阻尼
|
||||
this.applySuspensionImpulses(clampedDt);
|
||||
this.solveFriction(clampedDt); // 纵向驱动 / 侧向抓地
|
||||
|
||||
// 积分前解一次车身接触速度
|
||||
const manifolds = this.collision.detect(this.chassis, this.collider);
|
||||
this.contactCache.match(manifolds);
|
||||
this.contactSolver.solveVelocity(this.chassis, manifolds, clampedDt);
|
||||
this.contactCache.save(manifolds);
|
||||
|
||||
this.chassis.applyDamping(clampedDt);
|
||||
this.chassis.integrate(clampedDt); // 积分位置和朝向
|
||||
|
||||
// 积分后再解一次，消化穿透
|
||||
const positionManifolds = this.collision.detect(this.chassis, this.collider);
|
||||
this.contactCache.match(positionManifolds);
|
||||
this.contactSolver.solveVelocity(this.chassis, positionManifolds, clampedDt);
|
||||
this.contactCache.save(positionManifolds);
|
||||
|
||||
// 高速时扫掠回退，避免穿模
|
||||
if (this.collision.needsSwept(this.chassis, clampedDt)) {
|
||||
this.collision.solveSwept(
|
||||
this.chassis, this.collider,
|
||||
this.prevPosition, this.prevQuaternion,
|
||||
);
|
||||
}
|
||||
this.updateWheelRotation(clampedDt);
|
||||
}
|
||||
|
||||
/** 把单个网格或列表收成可遍历数组。 */
|
||||
private toColliderList(collider?: THREE.Mesh | THREE.Mesh[] | null): THREE.Mesh[] {
|
||||
if (!collider) return [];
|
||||
return Array.isArray(collider) ? collider : [collider];
|
||||
}
|
||||
|
||||
/** 按索引取车轮，越界返回 undefined。 */
|
||||
wheelAt(i: number): VehicleWheel | undefined {
|
||||
return this.wheels[i];
|
||||
}
|
||||
|
||||
// 把悬挂连接点、方向和转向后的轮轴变到世界空间
|
||||
private updateWheelTransforms(): void {
|
||||
const q = this.chassis.quaternion;
|
||||
for (const wheel of this.wheels) {
|
||||
wheel.hardPointWS.copy(wheel.connectionPoint).applyQuaternion(q).add(this.chassis.position);
|
||||
wheel.directionWS.copy(wheel.direction).applyQuaternion(q);
|
||||
this.steerAxis.copy(wheel.directionWS).negate();
|
||||
this.steerQuat.setFromAxisAngle(this.steerAxis, wheel.steering);
|
||||
wheel.axleWS.copy(wheel.axle).applyQuaternion(q).applyQuaternion(this.steerQuat);
|
||||
}
|
||||
}
|
||||
|
||||
// ==================== 悬挂与摩擦 ====================
|
||||
|
||||
// 沿悬挂方向射线检测接地
|
||||
private raycastWheels(): void {
|
||||
const colliders = this.collider;
|
||||
for (const wheel of this.wheels) {
|
||||
wheel.isInContact = false;
|
||||
wheel.contactMesh = null;
|
||||
const rayLen = wheel.restLength + wheel.maxSuspensionTravel + wheel.radius;
|
||||
if (!colliders.length || rayLen <= 1e-6) {
|
||||
this.setWheelAirborne(wheel);
|
||||
continue;
|
||||
}
|
||||
|
||||
const dirLen = wheel.directionWS.length();
|
||||
if (dirLen < 1e-8) {
|
||||
this.setWheelAirborne(wheel);
|
||||
continue;
|
||||
}
|
||||
this.impulse.copy(wheel.directionWS).multiplyScalar(1 / dirLen);
|
||||
this.raycaster.set(wheel.hardPointWS, this.impulse);
|
||||
this.raycaster.near = 0;
|
||||
this.raycaster.far = rayLen;
|
||||
const hits = this.raycaster.intersectObjects(colliders, false);
|
||||
const hit = hits[0];
|
||||
if (!hit) {
|
||||
this.setWheelAirborne(wheel);
|
||||
continue;
|
||||
}
|
||||
|
||||
wheel.isInContact = true;
|
||||
wheel.contactMesh = (hit.object as THREE.Mesh).isMesh ? hit.object as THREE.Mesh : null;
|
||||
wheel.contactPoint.copy(hit.point);
|
||||
if (hit.face) {
|
||||
this.normalMat.getNormalMatrix(hit.object.matrixWorld);
|
||||
wheel.contactNormal.copy(hit.face.normal).applyMatrix3(this.normalMat).normalize();
|
||||
} else {
|
||||
wheel.contactNormal.copy(wheel.directionWS).negate().normalize();
|
||||
}
|
||||
if (wheel.contactNormal.dot(wheel.directionWS) > 0) wheel.contactNormal.negate();
|
||||
|
||||
// 物理长度夹在行程内；视觉长度跟射线
|
||||
const rawLength = hit.distance - wheel.radius;
|
||||
const minLen = Math.max(0, wheel.restLength - wheel.maxSuspensionTravel);
|
||||
const maxLen = wheel.restLength + wheel.maxSuspensionTravel;
|
||||
wheel.visualLength = rawLength;
|
||||
wheel.suspensionLength = Math.min(maxLen, Math.max(minLen, rawLength));
|
||||
|
||||
const denom = wheel.contactNormal.dot(wheel.directionWS);
|
||||
this.chassis.getVelocityAtPoint(wheel.contactPoint, this.vel);
|
||||
const projVel = wheel.contactNormal.dot(this.vel);
|
||||
if (denom >= -0.1) {
|
||||
// 法线几乎与悬挂平行或反向，避免除零
|
||||
wheel.suspensionRelativeVelocity = 0;
|
||||
wheel.clippedInvContactDotSuspension = 10;
|
||||
} else {
|
||||
const inv = -1 / denom;
|
||||
wheel.suspensionRelativeVelocity = projVel * inv;
|
||||
wheel.clippedInvContactDotSuspension = inv;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 离地时回到静止长度
|
||||
private setWheelAirborne(wheel: VehicleWheel): void {
|
||||
wheel.isInContact = false;
|
||||
wheel.contactMesh = null;
|
||||
wheel.suspensionLength = wheel.restLength;
|
||||
wheel.visualLength = wheel.restLength;
|
||||
wheel.suspensionRelativeVelocity = 0;
|
||||
wheel.contactNormal.copy(wheel.directionWS).negate().normalize();
|
||||
wheel.clippedInvContactDotSuspension = 1;
|
||||
wheel.suspensionForce = 0;
|
||||
}
|
||||
|
||||
// 弹簧 + 压缩/回弹阻尼
|
||||
private solveSuspension(): void {
|
||||
const chassisMass = this.chassis.mass();
|
||||
for (const wheel of this.wheels) {
|
||||
if (!wheel.isInContact) {
|
||||
wheel.suspensionForce = 0;
|
||||
continue;
|
||||
}
|
||||
const lengthDiff = wheel.restLength - wheel.suspensionLength;
|
||||
let force = wheel.stiffness * lengthDiff * wheel.clippedInvContactDotSuspension;
|
||||
const damping = wheel.suspensionRelativeVelocity < 0
|
||||
? wheel.dampingCompression
|
||||
: wheel.dampingRelaxation;
|
||||
force -= damping * wheel.suspensionRelativeVelocity;
|
||||
wheel.suspensionForce = Math.max(0, force * chassisMass); // 悬挂只推不拉
|
||||
}
|
||||
}
|
||||
|
||||
// 沿接触法线施加悬挂冲量；作用点用轮心，减少转向时接地点把车顶歪
|
||||
private applySuspensionImpulses(dt: number): void {
|
||||
for (const wheel of this.wheels) {
|
||||
if (!wheel.isInContact) continue;
|
||||
const force = Math.min(wheel.suspensionForce, wheel.maxSuspensionForce);
|
||||
this.impulse.copy(wheel.contactNormal).multiplyScalar(force * dt);
|
||||
this.chassis.applyImpulseAtPoint(this.impulse, wheel.hardPointWS);
|
||||
}
|
||||
}
|
||||
|
||||
// 侧向抓地、驱动/制动，超出摩擦椭圆则打滑缩放
|
||||
private solveFriction(dt: number): void {
|
||||
let wheelsOnGround = 0;
|
||||
for (const wheel of this.wheels) {
|
||||
wheel.sideImpulse = 0;
|
||||
wheel.forwardImpulse = 0;
|
||||
wheel.skidInfo = 1;
|
||||
if (!wheel.isInContact) continue;
|
||||
wheelsOnGround += 1;
|
||||
|
||||
wheel.sideWS.copy(wheel.axleWS);
|
||||
const proj = wheel.sideWS.dot(wheel.contactNormal);
|
||||
wheel.sideWS.addScaledVector(wheel.contactNormal, -proj);
|
||||
if (wheel.sideWS.lengthSq() < 1e-8) continue;
|
||||
wheel.sideWS.normalize();
|
||||
wheel.forwardWS.copy(wheel.contactNormal).cross(wheel.sideWS);
|
||||
if (wheel.forwardWS.lengthSq() < 1e-8) continue;
|
||||
wheel.forwardWS.normalize();
|
||||
|
||||
// 侧向速度阻尼，抓地由 sideFrictionStiffness 缩放
|
||||
this.chassis.getVelocityAtPoint(wheel.contactPoint, this.vel);
|
||||
const sideSpeed = wheel.sideWS.dot(this.vel);
|
||||
const mass = effectiveMass(
|
||||
this.chassis, wheel.contactPoint, wheel.sideWS,
|
||||
this.r, this.gcross, this.local, this.world, this.invQuat,
|
||||
);
|
||||
const dampFactor = Math.min(
|
||||
1,
|
||||
(1 - Math.exp(-SIDE_DAMPING_RATE * dt)) * wheel.sideFrictionStiffness,
|
||||
);
|
||||
wheel.sideImpulse = -dampFactor * sideSpeed * mass;
|
||||
}
|
||||
|
||||
// 驱动或制动纵向冲量，并检测摩擦椭圆
|
||||
let sliding = false;
|
||||
for (const wheel of this.wheels) {
|
||||
if (!wheel.isInContact) continue;
|
||||
|
||||
if (wheel.engineForce !== 0) {
|
||||
wheel.forwardImpulse = wheel.engineForce * dt;
|
||||
} else {
|
||||
// 无驱动时用制动冲量刹住纵向滑动
|
||||
const maxImpulse = wheel.brake;
|
||||
this.chassis.getVelocityAtPoint(wheel.contactPoint, this.vel);
|
||||
const fwdSpeed = wheel.forwardWS.dot(this.vel);
|
||||
const mass = effectiveMass(
|
||||
this.chassis, wheel.contactPoint, wheel.forwardWS,
|
||||
this.r, this.gcross, this.local, this.world, this.invQuat,
|
||||
);
|
||||
const denom = Math.max(1, wheelsOnGround);
|
||||
wheel.forwardImpulse = Math.max(-maxImpulse, Math.min(maxImpulse, -fwdSpeed * mass / denom));
|
||||
}
|
||||
|
||||
const maxImp = wheel.suspensionForce * dt * wheel.frictionSlip;
|
||||
const x = wheel.forwardImpulse * FWD_FACTOR;
|
||||
const y = wheel.sideImpulse * SIDE_FACTOR;
|
||||
const impulseSq = x * x + y * y;
|
||||
const maxImpSq = maxImp * maxImp;
|
||||
if (impulseSq > maxImpSq && impulseSq > 1e-12) {
|
||||
sliding = true;
|
||||
wheel.skidInfo *= maxImp / Math.sqrt(impulseSq);
|
||||
}
|
||||
}
|
||||
|
||||
if (sliding) {
|
||||
// 超出椭圆的轮子按 skidInfo 同时缩小纵/侧向
|
||||
for (const wheel of this.wheels) {
|
||||
if (wheel.skidInfo < 1) {
|
||||
wheel.forwardImpulse *= wheel.skidInfo;
|
||||
wheel.sideImpulse *= wheel.skidInfo;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 纵向冲量作用在轮心；侧向冲量作用在触地点，rollInfluence 收短侧倾力臂
|
||||
this.upWS.set(0, 1, 0).applyQuaternion(this.chassis.quaternion);
|
||||
for (const wheel of this.wheels) {
|
||||
if (!wheel.isInContact) continue;
|
||||
if (wheel.forwardImpulse !== 0) {
|
||||
this.impulse.copy(wheel.forwardWS).multiplyScalar(wheel.forwardImpulse);
|
||||
this.chassis.applyImpulseAtPoint(this.impulse, wheel.hardPointWS);
|
||||
}
|
||||
if (wheel.sideImpulse !== 0) {
|
||||
this.impulse.copy(wheel.sideWS).multiplyScalar(wheel.sideImpulse);
|
||||
this.sidePoint.copy(wheel.contactPoint);
|
||||
this.r.subVectors(wheel.contactPoint, this.chassis.position);
|
||||
this.sidePoint.addScaledVector(this.upWS, -this.upWS.dot(this.r) * (1 - wheel.rollInfluence));
|
||||
this.chassis.applyImpulseAtPoint(this.impulse, this.sidePoint);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 按接地点前向速度更新车轮自转
|
||||
private updateWheelRotation(dt: number): void {
|
||||
for (const wheel of this.wheels) {
|
||||
if (wheel.isInContact) {
|
||||
this.chassis.getVelocityAtPoint(wheel.hardPointWS, this.vel);
|
||||
const proj = wheel.forwardWS.dot(this.vel);
|
||||
wheel.deltaRotation = wheel.radius > 1e-6 ? -(proj * dt) / wheel.radius : 0;
|
||||
wheel.rotation += wheel.deltaRotation;
|
||||
} else {
|
||||
wheel.rotation += wheel.deltaRotation;
|
||||
}
|
||||
wheel.deltaRotation *= 0.99;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,373 @@
|
||||
import * as THREE from "three";
|
||||
import type { ContactManifold } from "../../collision/contacts/ContactManifold";
|
||||
import { CONTACT_SKIN, contactSkinForExtent, type RawContact } from "../../collision/contacts/ContactPoint";
|
||||
import { reduceContacts } from "../../collision/contacts/contactReducer";
|
||||
import { closestPointOnTriangle } from "./vehicleMath";
|
||||
import type { ImpulseBody } from "../../collision/solver/ImpulseBody";
|
||||
import type { VehicleRigidBody } from "./VehicleRigidBody";
|
||||
|
||||
const MAX_RAW = 96; // 单帧原始接触上限
|
||||
const CCD_SIZE_RATIO = 0.12; // 位移超过最小边长该比例时启用扫掠
|
||||
|
||||
/** detect 所需的 OBB 刚体（车辆底盘 / 动态盒共用）。 */
|
||||
export type ObbMeshBody = ImpulseBody & {
|
||||
halfExtents: THREE.Vector3;
|
||||
};
|
||||
|
||||
/** 车身 OBB 与 BVH 三角网格：只收集接触，高速时做扫掠。 */
|
||||
export class VehicleCollision {
|
||||
private raw: RawContact[] = Array.from({ length: MAX_RAW }, () => ({
|
||||
point: new THREE.Vector3(),
|
||||
normal: new THREE.Vector3(),
|
||||
penetration: 0,
|
||||
}));
|
||||
private rawCount = 0;
|
||||
private manifolds: ContactManifold[] = [];
|
||||
private toward = new THREE.Vector3();
|
||||
|
||||
private invMat = new THREE.Matrix4();
|
||||
private worldMat = new THREE.Matrix4();
|
||||
private normalMat = new THREE.Matrix3();
|
||||
private localAABB = new THREE.Box3();
|
||||
private worldAABB = new THREE.Box3();
|
||||
private corner = new THREE.Vector3();
|
||||
private prevCorner = new THREE.Vector3();
|
||||
private axisX = new THREE.Vector3();
|
||||
private axisY = new THREE.Vector3();
|
||||
private axisZ = new THREE.Vector3();
|
||||
private prevAxisX = new THREE.Vector3();
|
||||
private prevAxisY = new THREE.Vector3();
|
||||
private prevAxisZ = new THREE.Vector3();
|
||||
private toiQuat = new THREE.Quaternion();
|
||||
private localCenter = new THREE.Vector3();
|
||||
private localAxisX = new THREE.Vector3();
|
||||
private localAxisY = new THREE.Vector3();
|
||||
private localAxisZ = new THREE.Vector3();
|
||||
private triN = new THREE.Vector3();
|
||||
private edge = new THREE.Vector3();
|
||||
private testAxis = new THREE.Vector3();
|
||||
private bestAxis = new THREE.Vector3();
|
||||
private rangeA = { min: 0, max: 0 };
|
||||
private rangeB = { min: 0, max: 0 };
|
||||
private closest = new THREE.Vector3();
|
||||
private ab = new THREE.Vector3();
|
||||
private ac = new THREE.Vector3();
|
||||
private ap = new THREE.Vector3();
|
||||
private bp = new THREE.Vector3();
|
||||
private cp = new THREE.Vector3();
|
||||
private impulse = new THREE.Vector3();
|
||||
private support = new THREE.Vector3();
|
||||
private bodyHalf = new THREE.Vector3();
|
||||
private raycaster = new THREE.Raycaster();
|
||||
/** 当前 detect 按刚体尺寸缩放后的接触皮肤。 */
|
||||
private contactSkin = CONTACT_SKIN;
|
||||
|
||||
/** 配置射线只取最近命中。 */
|
||||
constructor() {
|
||||
(this.raycaster as any).firstHitOnly = true;
|
||||
}
|
||||
|
||||
/** 收集 OBB 与一组网格的接触流形。 */
|
||||
detect(
|
||||
body: ObbMeshBody,
|
||||
colliders: THREE.Mesh[] | THREE.Mesh | null | undefined,
|
||||
): ContactManifold[] {
|
||||
this.rawCount = 0;
|
||||
this.manifolds.length = 0;
|
||||
const extent = Math.max(body.halfExtents.x, body.halfExtents.y, body.halfExtents.z);
|
||||
this.contactSkin = contactSkinForExtent(extent);
|
||||
for (const collider of this.toList(colliders)) {
|
||||
const tree = (collider.geometry as any)?.boundsTree;
|
||||
if (!tree) continue;
|
||||
this.collectRawContacts(body, collider, tree);
|
||||
}
|
||||
if (this.rawCount === 0) return this.manifolds;
|
||||
return reduceContacts(this.raw, this.rawCount, body, this.manifolds);
|
||||
}
|
||||
|
||||
/** 本帧位移是否大到需要扫掠。 */
|
||||
needsSwept(body: VehicleRigidBody, dt: number): boolean {
|
||||
const hx = body.halfExtents.x;
|
||||
const hy = body.halfExtents.y;
|
||||
const hz = body.halfExtents.z;
|
||||
const minSize = 2 * Math.min(hx, hy, hz);
|
||||
const linTravel = body.linearVelocity.length() * dt;
|
||||
const angTravel = body.angularVelocity.length() * Math.hypot(hx, hy, hz) * dt;
|
||||
return linTravel + angTravel > minSize * CCD_SIZE_RATIO;
|
||||
}
|
||||
|
||||
/** 高速穿模时按 TOI 回退位置和朝向。 */
|
||||
solveSwept(
|
||||
body: VehicleRigidBody,
|
||||
colliders: THREE.Mesh[] | THREE.Mesh | null | undefined,
|
||||
prevPosition: THREE.Vector3,
|
||||
prevQuaternion: THREE.Quaternion,
|
||||
): void {
|
||||
const list = this.toList(colliders);
|
||||
if (!list.length) return;
|
||||
this.solveSweptCollision(body, list, prevPosition, prevQuaternion);
|
||||
}
|
||||
|
||||
/** 对 8 个角点和中心扫过所有网格，按最早 TOI 回退。 */
|
||||
private solveSweptCollision(
|
||||
body: VehicleRigidBody,
|
||||
colliders: THREE.Mesh[],
|
||||
prevPosition: THREE.Vector3,
|
||||
prevQuaternion: THREE.Quaternion,
|
||||
): void {
|
||||
this.bodyHalf.copy(body.halfExtents);
|
||||
this.setAxes(prevQuaternion, this.prevAxisX, this.prevAxisY, this.prevAxisZ);
|
||||
this.setAxes(body.quaternion, this.axisX, this.axisY, this.axisZ);
|
||||
this.raycaster.near = 0;
|
||||
let minToi = 1;
|
||||
let hitNormal: THREE.Vector3 | null = null;
|
||||
|
||||
// 8 角点 + 中心沿本帧位移射线，取最早命中
|
||||
for (let i = 0; i < 9; i++) {
|
||||
if (i === 8) {
|
||||
this.prevCorner.copy(prevPosition);
|
||||
this.corner.copy(body.position);
|
||||
} else {
|
||||
const sx = (i & 1) ? 1 : -1;
|
||||
const sy = (i & 2) ? 1 : -1;
|
||||
const sz = (i & 4) ? 1 : -1;
|
||||
this.cornerFrom(prevPosition, this.prevAxisX, this.prevAxisY, this.prevAxisZ, sx, sy, sz, this.prevCorner);
|
||||
this.cornerFrom(body.position, this.axisX, this.axisY, this.axisZ, sx, sy, sz, this.corner);
|
||||
}
|
||||
this.impulse.subVectors(this.corner, this.prevCorner);
|
||||
const len = this.impulse.length();
|
||||
if (len < 1e-6) continue;
|
||||
this.impulse.multiplyScalar(1 / len);
|
||||
this.raycaster.set(this.prevCorner, this.impulse);
|
||||
this.raycaster.far = len;
|
||||
const hits = this.raycaster.intersectObjects(colliders, false);
|
||||
if (!hits.length) continue;
|
||||
const hit = hits[0];
|
||||
const toi = hit.distance / len;
|
||||
if (toi >= minToi || toi <= 1e-4) continue;
|
||||
minToi = toi;
|
||||
if (hit.face) {
|
||||
this.normalMat.getNormalMatrix(hit.object.matrixWorld);
|
||||
this.bestAxis.copy(hit.face.normal).applyMatrix3(this.normalMat).normalize();
|
||||
if (this.bestAxis.dot(this.impulse) > 0) this.bestAxis.negate();
|
||||
this.toward.copy(this.bestAxis);
|
||||
hitNormal = this.toward;
|
||||
}
|
||||
}
|
||||
|
||||
if (minToi >= 1) return;
|
||||
const t = minToi * 0.95; // 略提前停在命中前
|
||||
body.position.lerpVectors(prevPosition, body.position, t);
|
||||
this.toiQuat.slerpQuaternions(prevQuaternion, body.quaternion, t);
|
||||
body.quaternion.copy(this.toiQuat);
|
||||
// 去掉沿命中法线的入射速度
|
||||
if (!hitNormal) return;
|
||||
const vn = body.linearVelocity.dot(hitNormal);
|
||||
if (vn < 0) body.linearVelocity.addScaledVector(hitNormal, -vn);
|
||||
}
|
||||
|
||||
/** 把单个网格或列表收成可遍历数组。 */
|
||||
private toList(
|
||||
colliders: THREE.Mesh[] | THREE.Mesh | null | undefined,
|
||||
): THREE.Mesh[] {
|
||||
if (!colliders) return [];
|
||||
return Array.isArray(colliders) ? colliders : [colliders];
|
||||
}
|
||||
|
||||
/** 用 BVH shapecast 收集与 OBB 相交的三角。 */
|
||||
private collectRawContacts(
|
||||
body: ObbMeshBody,
|
||||
collider: THREE.Mesh,
|
||||
tree: { shapecast: (opts: any) => void },
|
||||
): void {
|
||||
this.setWorldAxes(body);
|
||||
this.worldMat.copy(collider.matrixWorld);
|
||||
this.invMat.copy(this.worldMat).invert();
|
||||
this.normalMat.getNormalMatrix(this.worldMat);
|
||||
|
||||
// OBB 变到网格本地，再用 AABB 做 BVH 粗测
|
||||
this.localCenter.copy(body.position).applyMatrix4(this.invMat);
|
||||
this.localAxisX.copy(this.axisX).transformDirection(this.invMat);
|
||||
this.localAxisY.copy(this.axisY).transformDirection(this.invMat);
|
||||
this.localAxisZ.copy(this.axisZ).transformDirection(this.invMat);
|
||||
|
||||
this.computeOBBWorldAABB(body.position, this.worldAABB);
|
||||
this.localAABB.copy(this.worldAABB).applyMatrix4(this.invMat);
|
||||
|
||||
const self = this;
|
||||
tree.shapecast({
|
||||
intersectsBounds: (box: THREE.Box3) => box.intersectsBox(self.localAABB),
|
||||
intersectsTriangle: (tri: { a: THREE.Vector3; b: THREE.Vector3; c: THREE.Vector3 }) => {
|
||||
self.testTriangle(body, tri.a, tri.b, tri.c);
|
||||
},
|
||||
});
|
||||
}
|
||||
|
||||
/** SAT 分离则丢弃；否则用支撑点投影出接触。 */
|
||||
private testTriangle(
|
||||
body: ObbMeshBody,
|
||||
a: THREE.Vector3,
|
||||
b: THREE.Vector3,
|
||||
c: THREE.Vector3,
|
||||
): void {
|
||||
this.ab.subVectors(b, a);
|
||||
this.ac.subVectors(c, a);
|
||||
this.triN.copy(this.ab).cross(this.ac);
|
||||
if (this.triN.lengthSq() < 1e-12) return;
|
||||
this.triN.normalize();
|
||||
|
||||
// 面法线、OBB 三轴、边×轴，任一分离则不相交
|
||||
if (!this.tryAxis(this.triN, a, b, c)) return;
|
||||
if (!this.tryAxis(this.localAxisX, a, b, c)) return;
|
||||
if (!this.tryAxis(this.localAxisY, a, b, c)) return;
|
||||
if (!this.tryAxis(this.localAxisZ, a, b, c)) return;
|
||||
this.edge.subVectors(b, a);
|
||||
if (!this.tryCrossAxes(this.edge, a, b, c)) return;
|
||||
this.edge.subVectors(c, b);
|
||||
if (!this.tryCrossAxes(this.edge, a, b, c)) return;
|
||||
this.edge.subVectors(a, c);
|
||||
if (!this.tryCrossAxes(this.edge, a, b, c)) return;
|
||||
|
||||
const radius =
|
||||
this.bodyHalf.x * Math.abs(this.triN.dot(this.localAxisX)) +
|
||||
this.bodyHalf.y * Math.abs(this.triN.dot(this.localAxisY)) +
|
||||
this.bodyHalf.z * Math.abs(this.triN.dot(this.localAxisZ));
|
||||
const plane = a.dot(this.triN);
|
||||
const depth = plane - (this.localCenter.dot(this.triN) - radius);
|
||||
if (depth <= -this.contactSkin) return;
|
||||
|
||||
// 沿法线取盒子支撑点，再投影到三角得到接触
|
||||
this.support.copy(this.localCenter)
|
||||
.addScaledVector(this.localAxisX, -this.bodyHalf.x * Math.sign(this.triN.dot(this.localAxisX) || 1))
|
||||
.addScaledVector(this.localAxisY, -this.bodyHalf.y * Math.sign(this.triN.dot(this.localAxisY) || 1))
|
||||
.addScaledVector(this.localAxisZ, -this.bodyHalf.z * Math.sign(this.triN.dot(this.localAxisZ) || 1));
|
||||
closestPointOnTriangle(
|
||||
this.support, a, b, c, this.closest,
|
||||
this.ab, this.ac, this.ap, this.bp, this.cp,
|
||||
);
|
||||
this.addRawContact(this.closest, this.triN, depth, body);
|
||||
}
|
||||
|
||||
/** 用三角边与 OBB 轴的叉积做分离轴测试。 */
|
||||
private tryCrossAxes(
|
||||
edge: THREE.Vector3,
|
||||
a: THREE.Vector3,
|
||||
b: THREE.Vector3,
|
||||
c: THREE.Vector3,
|
||||
): boolean {
|
||||
if (!this.tryAxis(this.testAxis.copy(edge).cross(this.localAxisX), a, b, c)) return false;
|
||||
if (!this.tryAxis(this.testAxis.copy(edge).cross(this.localAxisY), a, b, c)) return false;
|
||||
if (!this.tryAxis(this.testAxis.copy(edge).cross(this.localAxisZ), a, b, c)) return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
/** 沿一根轴投影 OBB 与三角，重叠则通过。 */
|
||||
private tryAxis(
|
||||
axis: THREE.Vector3,
|
||||
a: THREE.Vector3,
|
||||
b: THREE.Vector3,
|
||||
c: THREE.Vector3,
|
||||
): boolean {
|
||||
const lenSq = axis.lengthSq();
|
||||
if (lenSq < 1e-10) {
|
||||
this.rangeB.max = Infinity;
|
||||
return true; // 退化轴视为不分离
|
||||
}
|
||||
this.testAxis.copy(axis).multiplyScalar(1 / Math.sqrt(lenSq));
|
||||
this.projectOBB(this.testAxis, this.rangeA);
|
||||
const p0 = a.dot(this.testAxis);
|
||||
const p1 = b.dot(this.testAxis);
|
||||
const p2 = c.dot(this.testAxis);
|
||||
this.rangeB.min = Math.min(p0, p1, p2);
|
||||
const triMax = Math.max(p0, p1, p2);
|
||||
if (this.rangeA.max + this.contactSkin < this.rangeB.min || this.rangeA.min - this.contactSkin > triMax) return false;
|
||||
this.rangeB.max = Math.min(this.rangeA.max, triMax) - Math.max(this.rangeA.min, this.rangeB.min);
|
||||
return true;
|
||||
}
|
||||
|
||||
/** 把 OBB 投影到指定轴，写出 min/max。 */
|
||||
private projectOBB(axis: THREE.Vector3, out: { min: number; max: number }): void {
|
||||
const r =
|
||||
this.bodyHalf.x * Math.abs(axis.dot(this.localAxisX)) +
|
||||
this.bodyHalf.y * Math.abs(axis.dot(this.localAxisY)) +
|
||||
this.bodyHalf.z * Math.abs(axis.dot(this.localAxisZ));
|
||||
const c = this.localCenter.dot(axis);
|
||||
out.min = c - r;
|
||||
out.max = c + r;
|
||||
}
|
||||
|
||||
/** 写入原始接触；槽满时替换最浅的一个。 */
|
||||
private addRawContact(
|
||||
localPoint: THREE.Vector3,
|
||||
localNormal: THREE.Vector3,
|
||||
depth: number,
|
||||
body: ObbMeshBody,
|
||||
): void {
|
||||
let slot = this.rawCount;
|
||||
if (slot === MAX_RAW) {
|
||||
let shallow = 0;
|
||||
for (let i = 1; i < MAX_RAW; i++) {
|
||||
if (this.raw[i].penetration < this.raw[shallow].penetration) shallow = i;
|
||||
}
|
||||
if (depth <= this.raw[shallow].penetration) return;
|
||||
slot = shallow;
|
||||
} else {
|
||||
this.rawCount += 1;
|
||||
}
|
||||
const contact = this.raw[slot];
|
||||
contact.point.copy(localPoint).applyMatrix4(this.worldMat);
|
||||
contact.normal.copy(localNormal).applyMatrix3(this.normalMat).normalize();
|
||||
this.toward.subVectors(body.position, contact.point);
|
||||
if (contact.normal.dot(this.toward) < 0) contact.normal.negate(); // 法线指向盒子
|
||||
contact.penetration = depth;
|
||||
}
|
||||
|
||||
/** 从朝向取出世界轴，并缓存半边长。 */
|
||||
private setWorldAxes(body: ObbMeshBody): void {
|
||||
this.setAxes(body.quaternion, this.axisX, this.axisY, this.axisZ);
|
||||
this.bodyHalf.copy(body.halfExtents);
|
||||
}
|
||||
|
||||
/** 由四元数写出三个正交轴。 */
|
||||
private setAxes(
|
||||
quat: THREE.Quaternion,
|
||||
x: THREE.Vector3,
|
||||
y: THREE.Vector3,
|
||||
z: THREE.Vector3,
|
||||
): void {
|
||||
x.set(1, 0, 0).applyQuaternion(quat);
|
||||
y.set(0, 1, 0).applyQuaternion(quat);
|
||||
z.set(0, 0, 1).applyQuaternion(quat);
|
||||
}
|
||||
|
||||
/** 由 8 个角点计算 OBB 世界 AABB。 */
|
||||
private computeOBBWorldAABB(center: THREE.Vector3, out: THREE.Box3): void {
|
||||
out.makeEmpty();
|
||||
for (let i = 0; i < 8; i++) {
|
||||
this.cornerFrom(
|
||||
center, this.axisX, this.axisY, this.axisZ,
|
||||
(i & 1) ? 1 : -1, (i & 2) ? 1 : -1, (i & 4) ? 1 : -1,
|
||||
this.corner,
|
||||
);
|
||||
out.expandByPoint(this.corner);
|
||||
}
|
||||
out.expandByScalar(0.08); // 略放大，避免贴边漏三角
|
||||
}
|
||||
|
||||
/** 按轴向符号组合出 OBB 角点。 */
|
||||
private cornerFrom(
|
||||
center: THREE.Vector3,
|
||||
axisX: THREE.Vector3,
|
||||
axisY: THREE.Vector3,
|
||||
axisZ: THREE.Vector3,
|
||||
sx: number,
|
||||
sy: number,
|
||||
sz: number,
|
||||
out: THREE.Vector3,
|
||||
): THREE.Vector3 {
|
||||
return out.copy(center)
|
||||
.addScaledVector(axisX, sx * this.bodyHalf.x)
|
||||
.addScaledVector(axisY, sy * this.bodyHalf.y)
|
||||
.addScaledVector(axisZ, sz * this.bodyHalf.z);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,174 @@
|
||||
import * as THREE from "three";
|
||||
import { integrateQuaternion } from "./vehicleMath";
|
||||
|
||||
export type VehicleRigidBodyOptions = {
|
||||
position: THREE.Vector3; // 初始世界位置
|
||||
mass: number; // 质量（kg）
|
||||
halfExtents: THREE.Vector3; // 碰撞盒半边长
|
||||
linearDamping?: number; // 线阻尼
|
||||
angularDamping?: number; // 角阻尼
|
||||
gravityScale?: number; // 重力缩放
|
||||
};
|
||||
|
||||
const GRAVITY = 9.81; // 重力加速度
|
||||
|
||||
/** 车辆专用轻量刚体。 */
|
||||
export class VehicleRigidBody {
|
||||
position = new THREE.Vector3(); // 世界位置
|
||||
quaternion = new THREE.Quaternion(); // 世界朝向
|
||||
|
||||
linearVelocity = new THREE.Vector3(); // 线速度
|
||||
angularVelocity = new THREE.Vector3(); // 角速度
|
||||
|
||||
private _mass: number; // 质量
|
||||
invMass: number; // 质量倒数
|
||||
|
||||
inertia = new THREE.Vector3(); // 局部惯量对角元
|
||||
invInertia = new THREE.Vector3(); // 惯量倒数
|
||||
|
||||
linearDamping: number; // 线阻尼
|
||||
angularDamping: number; // 角阻尼
|
||||
gravityScale: number; // 重力缩放
|
||||
halfExtents: THREE.Vector3; // 碰撞盒半边长
|
||||
|
||||
private _r = new THREE.Vector3();
|
||||
private _torque = new THREE.Vector3();
|
||||
private _local = new THREE.Vector3();
|
||||
private _world = new THREE.Vector3();
|
||||
private _invQuat = new THREE.Quaternion();
|
||||
|
||||
constructor(opts: VehicleRigidBodyOptions) {
|
||||
this.position.copy(opts.position);
|
||||
this.halfExtents = opts.halfExtents.clone();
|
||||
this._mass = Math.max(1e-6, opts.mass);
|
||||
this.invMass = 1 / this._mass;
|
||||
this.linearDamping = opts.linearDamping ?? 0.05;
|
||||
this.angularDamping = opts.angularDamping ?? 0.5;
|
||||
this.gravityScale = opts.gravityScale ?? 1;
|
||||
this.setCuboidInertia(this._mass, this.halfExtents);
|
||||
}
|
||||
|
||||
/** 按长方体质量分布设置惯量。 */
|
||||
setCuboidInertia(mass: number, half: THREE.Vector3): void {
|
||||
const w = half.x * 2;
|
||||
const h = half.y * 2;
|
||||
const d = half.z * 2;
|
||||
this.inertia.set(
|
||||
mass / 12 * (h * h + d * d),
|
||||
mass / 12 * (w * w + d * d),
|
||||
mass / 12 * (w * w + h * h),
|
||||
);
|
||||
this.invInertia.set(
|
||||
this.inertia.x > 1e-8 ? 1 / this.inertia.x : 0,
|
||||
this.inertia.y > 1e-8 ? 1 / this.inertia.y : 0,
|
||||
this.inertia.z > 1e-8 ? 1 / this.inertia.z : 0,
|
||||
);
|
||||
}
|
||||
|
||||
/** 读取线速度。 */
|
||||
linvel(): THREE.Vector3 {
|
||||
return this.linearVelocity;
|
||||
}
|
||||
|
||||
/** 读取角速度。 */
|
||||
angvel(): THREE.Vector3 {
|
||||
return this.angularVelocity;
|
||||
}
|
||||
|
||||
/** 设置线速度。 */
|
||||
setLinvel(v: { x: number; y: number; z: number }): void {
|
||||
this.linearVelocity.set(v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
/** 设置角速度。 */
|
||||
setAngvel(v: { x: number; y: number; z: number }): void {
|
||||
this.angularVelocity.set(v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
/** 读取世界位置。 */
|
||||
translation(): THREE.Vector3 {
|
||||
return this.position;
|
||||
}
|
||||
|
||||
/** 读取世界朝向。 */
|
||||
rotation(): THREE.Quaternion {
|
||||
return this.quaternion;
|
||||
}
|
||||
|
||||
/** 设置世界位置。 */
|
||||
setTranslation(v: { x: number; y: number; z: number }): void {
|
||||
this.position.set(v.x, v.y, v.z);
|
||||
}
|
||||
|
||||
/** 设置世界朝向。 */
|
||||
setRotation(q: { x: number; y: number; z: number; w: number }): void {
|
||||
this.quaternion.set(q.x, q.y, q.z, q.w).normalize();
|
||||
}
|
||||
|
||||
/** 读取质量。 */
|
||||
mass(): number {
|
||||
return this._mass;
|
||||
}
|
||||
|
||||
/** 设置质量并按当前碰撞盒重算惯量。 */
|
||||
setMass(mass: number): void {
|
||||
this._mass = Math.max(1e-6, mass);
|
||||
this.invMass = 1 / this._mass;
|
||||
this.setCuboidInertia(this._mass, this.halfExtents);
|
||||
}
|
||||
|
||||
/** 设置碰撞盒半边长并按当前质量重算惯量。 */
|
||||
setHalfExtents(half: THREE.Vector3): void {
|
||||
this.halfExtents.copy(half);
|
||||
this.setCuboidInertia(this._mass, this.halfExtents);
|
||||
}
|
||||
|
||||
/** 在质心施加冲量。 */
|
||||
applyImpulse(impulse: THREE.Vector3): void {
|
||||
this.linearVelocity.addScaledVector(impulse, this.invMass);
|
||||
}
|
||||
|
||||
/** 在世界点施加冲量，同时产生角速度。 */
|
||||
applyImpulseAtPoint(impulse: THREE.Vector3, contactPoint: THREE.Vector3): void {
|
||||
this.linearVelocity.addScaledVector(impulse, this.invMass);
|
||||
this._r.subVectors(contactPoint, this.position);
|
||||
this.angularVelocity.add(this.angularDeltaFromImpulse(impulse, this._r));
|
||||
}
|
||||
|
||||
// 将冲量转为世界角速度增量：ω += R I⁻¹ Rᵀ (r × J)
|
||||
private angularDeltaFromImpulse(impulse: THREE.Vector3, r: THREE.Vector3): THREE.Vector3 {
|
||||
this._torque.copy(r).cross(impulse);
|
||||
this._invQuat.copy(this.quaternion).invert();
|
||||
this._local.copy(this._torque).applyQuaternion(this._invQuat);
|
||||
this._local.x *= this.invInertia.x;
|
||||
this._local.y *= this.invInertia.y;
|
||||
this._local.z *= this.invInertia.z;
|
||||
return this._world.copy(this._local).applyQuaternion(this.quaternion);
|
||||
}
|
||||
|
||||
/** 读取世界点处的刚体速度。 */
|
||||
getVelocityAtPoint(point: THREE.Vector3, out: THREE.Vector3): THREE.Vector3 {
|
||||
this._r.subVectors(point, this.position);
|
||||
return out.copy(this.linearVelocity).add(this._world.copy(this.angularVelocity).cross(this._r)); // v + ω × r
|
||||
}
|
||||
|
||||
/** 施加重力。 */
|
||||
applyGravity(dt: number): void {
|
||||
this.linearVelocity.y -= GRAVITY * this.gravityScale * dt;
|
||||
}
|
||||
|
||||
/** 施加线/角阻尼。 */
|
||||
applyDamping(dt: number): void {
|
||||
// 指数阻尼，与步长无关的衰减
|
||||
const lin = Math.exp(-this.linearDamping * dt);
|
||||
const ang = Math.exp(-this.angularDamping * dt);
|
||||
this.linearVelocity.multiplyScalar(lin);
|
||||
this.angularVelocity.multiplyScalar(ang);
|
||||
}
|
||||
|
||||
/** 用当前速度积分位置和朝向。 */
|
||||
integrate(dt: number): void {
|
||||
this.position.addScaledVector(this.linearVelocity, dt);
|
||||
integrateQuaternion(this.quaternion, this.angularVelocity, dt);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,48 @@
|
||||
import * as THREE from "three";
|
||||
|
||||
/** 单个车轮的悬挂、接地与轮胎力状态。 */
|
||||
export class VehicleWheel {
|
||||
connectionPoint = new THREE.Vector3(); // 悬挂与底盘的局部连接点
|
||||
direction = new THREE.Vector3(0, -1, 0); // 悬挂方向（底盘局部）
|
||||
axle = new THREE.Vector3(0, 0, -1); // 轮轴方向（底盘局部）
|
||||
|
||||
radius = 0.3; // 轮胎半径
|
||||
restLength = 0.1; // 悬挂静止长度
|
||||
suspensionLength = 0.1; // 当前悬挂长度（夹在行程内）
|
||||
visualLength = 0.1; // 视觉悬挂长度，跟射线
|
||||
maxSuspensionTravel = 0.1; // 最大行程
|
||||
|
||||
stiffness = 18; // 悬挂刚度（质量归一化）
|
||||
dampingCompression = 2.1; // 压缩阻尼
|
||||
dampingRelaxation = 2.5; // 回弹阻尼
|
||||
maxSuspensionForce = 6000; // 最大悬挂力
|
||||
|
||||
steering = 0; // 转向角
|
||||
engineForce = 0; // 驱动力
|
||||
brake = 0; // 制动力
|
||||
|
||||
frictionSlip = 8; // 纵向抓地
|
||||
sideFrictionStiffness = 1; // 侧向摩擦
|
||||
rollInfluence = 0.12; // 侧向力对侧倾的影响
|
||||
|
||||
isInContact = false; // 是否接地
|
||||
contactPoint = new THREE.Vector3(); // 接地点
|
||||
contactNormal = new THREE.Vector3(0, 1, 0); // 接触法线
|
||||
contactMesh: THREE.Mesh | null = null; // 本帧接地网格
|
||||
|
||||
suspensionForce = 0; // 本帧悬挂力
|
||||
forwardImpulse = 0; // 纵向冲量
|
||||
sideImpulse = 0; // 侧向冲量
|
||||
rotation = 0; // 车轮自转角
|
||||
deltaRotation = 0; // 本帧自转增量
|
||||
|
||||
hardPointWS = new THREE.Vector3(); // 连接点世界坐标
|
||||
directionWS = new THREE.Vector3(0, -1, 0); // 悬挂方向（世界）
|
||||
axleWS = new THREE.Vector3(0, 0, -1); // 轮轴（世界）
|
||||
forwardWS = new THREE.Vector3(1, 0, 0); // 滚动前向（世界）
|
||||
sideWS = new THREE.Vector3(0, 0, 1); // 侧向（世界）
|
||||
|
||||
clippedInvContactDotSuspension = 1; // 法线与悬挂方向夹角修正
|
||||
suspensionRelativeVelocity = 0; // 沿悬挂方向的相对速度
|
||||
skidInfo = 1; // 打滑系数，1 为未打滑
|
||||
}
|
||||
@@ -0,0 +1,115 @@
|
||||
import * as THREE from "three";
|
||||
|
||||
const EPS = 1e-8; // 有效质量分母下限
|
||||
|
||||
/** 冲量公式所需的刚体字段。 */
|
||||
type RigidBodyMassProps = {
|
||||
position: THREE.Vector3;
|
||||
quaternion: THREE.Quaternion;
|
||||
invMass: number;
|
||||
invInertia: THREE.Vector3;
|
||||
};
|
||||
|
||||
/** 冲量分母：invMass + n · (I⁻¹ (r × n) × r) */
|
||||
export function impulseDenominator(
|
||||
body: RigidBodyMassProps,
|
||||
point: THREE.Vector3,
|
||||
normal: THREE.Vector3,
|
||||
r: THREE.Vector3,
|
||||
gcross: THREE.Vector3,
|
||||
local: THREE.Vector3,
|
||||
world: THREE.Vector3,
|
||||
invQuat: THREE.Quaternion,
|
||||
): number {
|
||||
r.subVectors(point, body.position);
|
||||
gcross.copy(r).cross(normal);
|
||||
// 力矩变到局部惯量，再变回世界：I⁻¹ (r × n)
|
||||
invQuat.copy(body.quaternion).invert();
|
||||
local.copy(gcross).applyQuaternion(invQuat);
|
||||
local.x *= body.invInertia.x;
|
||||
local.y *= body.invInertia.y;
|
||||
local.z *= body.invInertia.z;
|
||||
world.copy(local).applyQuaternion(body.quaternion);
|
||||
world.cross(r);
|
||||
return body.invMass + normal.dot(world);
|
||||
}
|
||||
|
||||
/** 沿方向约束的有效质量（冲量分母的倒数）。 */
|
||||
export function effectiveMass(
|
||||
body: RigidBodyMassProps,
|
||||
point: THREE.Vector3,
|
||||
normal: THREE.Vector3,
|
||||
r: THREE.Vector3,
|
||||
gcross: THREE.Vector3,
|
||||
local: THREE.Vector3,
|
||||
world: THREE.Vector3,
|
||||
invQuat: THREE.Quaternion,
|
||||
): number {
|
||||
const denom = impulseDenominator(body, point, normal, r, gcross, local, world, invQuat);
|
||||
return denom > EPS ? 1 / denom : 0;
|
||||
}
|
||||
|
||||
/** 用世界角速度积分四元数：q += 0.5 * ω * q * dt */
|
||||
export function integrateQuaternion(q: THREE.Quaternion, omega: THREE.Vector3, dt: number): void {
|
||||
const halfDt = 0.5 * dt;
|
||||
const qx = q.x, qy = q.y, qz = q.z, qw = q.w;
|
||||
const wx = omega.x, wy = omega.y, wz = omega.z;
|
||||
q.x += halfDt * (wx * qw + wy * qz - wz * qy);
|
||||
q.y += halfDt * (wy * qw + wz * qx - wx * qz);
|
||||
q.z += halfDt * (wz * qw + wx * qy - wy * qx);
|
||||
q.w += halfDt * (-wx * qx - wy * qy - wz * qz);
|
||||
q.normalize();
|
||||
}
|
||||
|
||||
/** 三角形上距点 p 最近的点。 */
|
||||
export function closestPointOnTriangle(
|
||||
p: THREE.Vector3,
|
||||
a: THREE.Vector3,
|
||||
b: THREE.Vector3,
|
||||
c: THREE.Vector3,
|
||||
out: THREE.Vector3,
|
||||
ab: THREE.Vector3,
|
||||
ac: THREE.Vector3,
|
||||
ap: THREE.Vector3,
|
||||
bp: THREE.Vector3,
|
||||
cp: THREE.Vector3,
|
||||
): THREE.Vector3 {
|
||||
ab.subVectors(b, a);
|
||||
ac.subVectors(c, a);
|
||||
ap.subVectors(p, a);
|
||||
|
||||
const d1 = ab.dot(ap);
|
||||
const d2 = ac.dot(ap);
|
||||
if (d1 <= 0 && d2 <= 0) return out.copy(a); // 顶点 A
|
||||
|
||||
bp.subVectors(p, b);
|
||||
const d3 = ab.dot(bp);
|
||||
const d4 = ac.dot(bp);
|
||||
if (d3 >= 0 && d4 <= d3) return out.copy(b); // 顶点 B
|
||||
|
||||
const vc = d1 * d4 - d3 * d2;
|
||||
if (vc <= 0 && d1 >= 0 && d3 <= 0) {
|
||||
const v = d1 / (d1 - d3);
|
||||
return out.copy(a).addScaledVector(ab, v); // 边 AB
|
||||
}
|
||||
|
||||
cp.subVectors(p, c);
|
||||
const d5 = ab.dot(cp);
|
||||
const d6 = ac.dot(cp);
|
||||
if (d6 >= 0 && d5 <= d6) return out.copy(c); // 顶点 C
|
||||
|
||||
const vb = d5 * d2 - d1 * d6;
|
||||
if (vb <= 0 && d2 >= 0 && d6 <= 0) {
|
||||
const w = d2 / (d2 - d6);
|
||||
return out.copy(a).addScaledVector(ac, w); // 边 AC
|
||||
}
|
||||
|
||||
const va = d3 * d6 - d5 * d4;
|
||||
if (va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
|
||||
const w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
|
||||
return out.copy(b).addScaledVector(ab.subVectors(c, b), w); // 边 BC
|
||||
}
|
||||
|
||||
const denom = 1 / (va + vb + vc);
|
||||
return out.copy(a).addScaledVector(ab, vb * denom).addScaledVector(ac, vc * denom); // 面内
|
||||
}
|
||||
Reference in new issue
Block a user