├── .gitignore
├── CREDITS.md
├── LICENSE
├── README.md
├── index.html
├── index.js
├── package-lock.json
├── package.json
├── src
    ├── FEMPhysics
    │   ├── FEMPhysics.js
    │   ├── grid.js
    │   ├── math.js
    │   ├── softbodyGeometry.js
    │   ├── softbodyInstance.js
    │   ├── structuredArray.js
    │   └── tetVisualizer.js
    ├── app.js
    ├── assets
    │   ├── autumn_field_puresky_1k.hdr
    │   ├── rock_0005_ao_1k.jpg
    │   ├── rock_0005_color_1k.jpg
    │   ├── rock_0005_normal_opengl_1k.png
    │   └── rock_0005_roughness_1k.jpg
    ├── collisionGeometry.js
    ├── conf.js
    ├── geometry
    │   ├── cube.js
    │   ├── icosphere.js
    │   ├── loadModel.js
    │   ├── skull.js
    │   ├── skull2.js
    │   ├── skull3.js
    │   ├── textures
    │   │   ├── fabrics_0066_ao_1k.jpg
    │   │   ├── fabrics_0066_color_1k.jpg
    │   │   ├── fabrics_0066_normal_opengl_1k.png
    │   │   ├── fabrics_0066_roughness_1k.jpg
    │   │   ├── skullColor.jpg
    │   │   ├── skullNormal.png
    │   │   ├── skullRoughness.jpg
    │   │   ├── virus_normal.png
    │   │   └── virus_roughness.jpg
    │   ├── torus.js
    │   └── virus.js
    ├── info.js
    └── lights.js
└── vite.config.js


/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 


--------------------------------------------------------------------------------
/CREDITS.md:
--------------------------------------------------------------------------------
 1 | ## Credits
 2 | 
 3 | The softbody simulation is based on the WebGL implementation in [TetSim](https://github.com/zalo/TetSim) by [Johnathon Selstad](https://github.com/zalo). I reimplemented it in three.js TSL and added collision detection.
 4 | 
 5 | [Skull model](https://sketchfab.com/3d-models/skull-b78e4e6b29b2430293edd9c99d88a64e) by [DJMaesen](https://sketchfab.com/bumstrum).
 6 | 
 7 | [Virus model](https://sketchfab.com/3d-models/corona-virus-2e7ffcc5d8df41bfa6f7ee666237757c) by [Refref1990](https://sketchfab.com/refref1990).
 8 | 
 9 | [HDRi background](https://polyhaven.com/a/autumn_field_puresky) by Jarod Guest and Sergej Majboroda on [Polyhaven.com](https://polyhaven.com).
10 | 
11 | [Rope texture](https://www.texturecan.com/details/424/) by [texturecan.com](https://texturecan.com).
12 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2025 Holtsetio
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # Realtime softbody simulation in the Browser with WebGPU
 2 | 
 3 | This is a realtime simulation of softbodies with collisions, running in the browser using the three.js WebGPURenderer.
 4 | 
 5 | See it running live [here](https://holtsetio.com/lab/softbodies/)!
 6 | 
 7 | [![softbodies](https://github.com/user-attachments/assets/843f8955-d45b-4702-9e9b-77ebb99a0075)](https://holtsetio.com/lab/softbodies/)
 8 | 
 9 | ## Credits
10 | 
11 | The softbody simulation is based on the WebGL implementation in [TetSim](https://github.com/zalo/TetSim) by [Johnathon Selstad](https://github.com/zalo). I reimplemented it in three.js TSL and added collision detection.
12 | 
13 | Full list of credits for the assets can be found [here](CREDITS.md)
14 | 
15 | ## How to run
16 | ```
17 | npm install
18 | npm run dev
19 | ```
20 | 


--------------------------------------------------------------------------------
/index.html:
--------------------------------------------------------------------------------
 1 | <!DOCTYPE html>
 2 | <html lang="en">
 3 | <head>
 4 |   <meta charset="UTF-8" />
 5 |   <meta name="viewport" content="width=device-width, height=device-height, interactive-widget=resizes-content, shrink-to-fit=0, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0" />
 6 |   <meta property="og:title" content="Softbodies - ThreeJS WebGPU Experiment - holtsetio.com" />
 7 |   <meta property="og:image" content="https://holtsetio.com/img/lab/softbodies.jpg" />
 8 |   <title>Softbodies - ThreeJS WebGPU Experiment - holtsetio.com</title>
 9 |   <style>
10 |     html,
11 |     body {
12 |       width: 100%;
13 |       height: 100%;
14 |       margin: 0;
15 |       position: relative;
16 |       overflow: hidden;
17 |     }
18 |     #container {
19 |       width: 100%;
20 |       height: 100%;
21 |       display: block;
22 |     }
23 |     #veil {
24 |       position: absolute;
25 |       top: 0;
26 |       left: 0;
27 |       width: 100%;
28 |       height: 100%;
29 |       background-color: black;
30 |       opacity: 1;
31 |       pointer-events: none;
32 |       transition: opacity 1s ease-in-out;
33 |     }
34 |     #progress-bar {
35 |       position: absolute;
36 |       width: 200px;
37 |       height: 5px;
38 |       left: 50vw;
39 |       top: 50vh;
40 |       transition: opacity 0.2s ease;
41 |       transform: translateX(-50%) translateY(-50%);
42 |       background-color: #333;
43 |     }
44 |     #progress {
45 |       position: absolute;
46 |       width: 0px;
47 |       height: 5px;
48 |       left: 0px;
49 |       top: 0px;
50 |       transition: width 0.2s ease;
51 |       background-color: #848484;
52 |     }
53 |     #error {
54 |       position: absolute;
55 |       left: 50vw;
56 |       top: 50vh;
57 |       transform: translateX(-50%) translateY(-50%);
58 |       color: #FFFFFF;
59 |       visibility: hidden;
60 |     }
61 |   </style>
62 |   <script defer src="https://s.holtsetio.com/script.js" data-website-id="cb36fa92-2381-4031-8f81-f430a473156d"></script>
63 | </head>
64 | <body>
65 | <div id="container">
66 |   <div id="veil">
67 |     <div id="progress-bar"><div id="progress"></div></div>
68 |     <div id="error"></div>
69 |   </div>
70 |   <script src="./index.js" type="module"></script>
71 | </body>
72 | </html>
73 | 


--------------------------------------------------------------------------------
/index.js:
--------------------------------------------------------------------------------
 1 | import * as THREE from "three/webgpu"
 2 | import App from "./src/app";
 3 | THREE.ColorManagement.enabled = true
 4 | 
 5 | const updateLoadingProgressBar = async (frac, delay=0) => {
 6 |     return new Promise(resolve => {
 7 |         const progress = document.getElementById("progress")
 8 |         // 200px is the width of the progress bar defined in index.html
 9 |         progress.style.width = `${frac * 200}px`
10 |         if (delay === 0) {
11 |             resolve();
12 |         } else {
13 |             setTimeout(resolve, delay)
14 |         }
15 |     })
16 | }
17 | 
18 | const createRenderer = () => {
19 |     const renderer = new THREE.WebGPURenderer({
20 |         //forceWebGL: true,
21 |         //antialias: true,
22 |     });
23 |     renderer.setPixelRatio(window.devicePixelRatio);
24 |     renderer.setSize(window.innerWidth, window.innerHeight);
25 |     renderer.outputColorSpace = THREE.SRGBColorSpace;
26 |     return renderer;
27 | }
28 | 
29 | const error = (msg) => {
30 |     const progressBar = document.getElementById("progress-bar");
31 |     progressBar.style.opacity = 0;
32 |     const error = document.getElementById("error");
33 |     error.style.visibility = "visible";
34 |     error.innerText = "Error: " + msg;
35 |     const veil = document.getElementById("veil");
36 |     error.style.pointerEvents = "auto";
37 | };
38 | 
39 | 
40 | const run = async ()=>{
41 |     if (!navigator.gpu) {
42 |         error("Your device does not support WebGPU.");
43 |         return;
44 |     }
45 | 
46 |     const renderer = createRenderer();
47 | 
48 |     if (!renderer.backend.isWebGPUBackend) {
49 |         error("Couldn't initialize WebGPU. Make sure WebGPU is supported by your Browser!");
50 |         return;
51 |     }
52 | 
53 |     const container = document.getElementById("container");
54 |     container.appendChild(renderer.domElement);
55 | 
56 |     const app = new App(renderer);
57 |     await app.init(updateLoadingProgressBar);
58 | 
59 |     const resize = () => {
60 |         renderer.setSize(window.innerWidth, window.innerHeight);
61 |         app.resize(window.innerWidth, window.innerHeight);
62 |     }
63 |     window.addEventListener("resize", resize);
64 |     resize();
65 | 
66 |     const veil = document.getElementById("veil");
67 |     veil.style.opacity = 0;
68 |     const progressBar = document.getElementById("progress-bar");
69 |     progressBar.style.opacity = 0;
70 |     const clock = new THREE.Clock();
71 |     const animate = async ()=>{
72 |         const delta = clock.getDelta();
73 |         const elapsed = clock.getElapsedTime();
74 |         await app.update(delta, elapsed);
75 |         requestAnimationFrame(animate);
76 |     };
77 |     requestAnimationFrame(animate);
78 | };
79 | 
80 | run().catch(error => {
81 |     console.error(error);
82 | });


--------------------------------------------------------------------------------
/package-lock.json:
--------------------------------------------------------------------------------
   1 | {
   2 |   "name": "softbodies",
   3 |   "version": "0.0.1",
   4 |   "lockfileVersion": 3,
   5 |   "requires": true,
   6 |   "packages": {
   7 |     "": {
   8 |       "name": "softbodies",
   9 |       "version": "0.0.1",
  10 |       "dependencies": {
  11 |         "@tweakpane/plugin-essentials": "^0.2.1",
  12 |         "is-mobile": "^5.0.0",
  13 |         "three": "^0.176.0",
  14 |         "tweakpane": "^4.0.5",
  15 |         "tweakpane-plugin-infodump": "^4.0.2"
  16 |       },
  17 |       "devDependencies": {
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  19 |         "@babel/parser": "^7.26.9",
  20 |         "@babel/traverse": "^7.26.9",
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  22 |         "vite": "^6.3.1",
  23 |         "vite-plugin-tsl-operator": "^1.2.3"
  24 |       }
  25 |     },
  26 |     "node_modules/@babel/code-frame": {
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  28 |       "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.26.2.tgz",
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  45 |       "dependencies": {
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  50 |         "jsesc": "^3.0.2"
  51 |       },
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  55 |     },
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  78 |       "dev": true,
  79 |       "dependencies": {
  80 |         "@babel/types": "^7.27.0"
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  82 |       "bin": {
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  84 |       },
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  86 |         "node": ">=6.0.0"
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 100 |         "node": ">=6.9.0"
 101 |       }
 102 |     },
 103 |     "node_modules/@babel/traverse": {
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 105 |       "resolved": "https://registry.npmjs.org/@babel/traverse/-/traverse-7.27.0.tgz",
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 107 |       "dev": true,
 108 |       "dependencies": {
 109 |         "@babel/code-frame": "^7.26.2",
 110 |         "@babel/generator": "^7.27.0",
 111 |         "@babel/parser": "^7.27.0",
 112 |         "@babel/template": "^7.27.0",
 113 |         "@babel/types": "^7.27.0",
 114 |         "debug": "^4.3.1",
 115 |         "globals": "^11.1.0"
 116 |       },
 117 |       "engines": {
 118 |         "node": ">=6.9.0"
 119 |       }
 120 |     },
 121 |     "node_modules/@babel/types": {
 122 |       "version": "7.27.0",
 123 |       "resolved": "https://registry.npmjs.org/@babel/types/-/types-7.27.0.tgz",
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 125 |       "dev": true,
 126 |       "dependencies": {
 127 |         "@babel/helper-string-parser": "^7.25.9",
 128 |         "@babel/helper-validator-identifier": "^7.25.9"
 129 |       },
 130 |       "engines": {
 131 |         "node": ">=6.9.0"
 132 |       }
 133 |     },
 134 |     "node_modules/@esbuild/aix-ppc64": {
 135 |       "version": "0.25.2",
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 138 |       "cpu": [
 139 |         "ppc64"
 140 |       ],
 141 |       "dev": true,
 142 |       "optional": true,
 143 |       "os": [
 144 |         "aix"
 145 |       ],
 146 |       "engines": {
 147 |         "node": ">=18"
 148 |       }
 149 |     },
 150 |     "node_modules/@esbuild/android-arm": {
 151 |       "version": "0.25.2",
 152 |       "resolved": "https://registry.npmjs.org/@esbuild/android-arm/-/android-arm-0.25.2.tgz",
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 154 |       "cpu": [
 155 |         "arm"
 156 |       ],
 157 |       "dev": true,
 158 |       "optional": true,
 159 |       "os": [
 160 |         "android"
 161 |       ],
 162 |       "engines": {
 163 |         "node": ">=18"
 164 |       }
 165 |     },
 166 |     "node_modules/@esbuild/android-arm64": {
 167 |       "version": "0.25.2",
 168 |       "resolved": "https://registry.npmjs.org/@esbuild/android-arm64/-/android-arm64-0.25.2.tgz",
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 170 |       "cpu": [
 171 |         "arm64"
 172 |       ],
 173 |       "dev": true,
 174 |       "optional": true,
 175 |       "os": [
 176 |         "android"
 177 |       ],
 178 |       "engines": {
 179 |         "node": ">=18"
 180 |       }
 181 |     },
 182 |     "node_modules/@esbuild/android-x64": {
 183 |       "version": "0.25.2",
 184 |       "resolved": "https://registry.npmjs.org/@esbuild/android-x64/-/android-x64-0.25.2.tgz",
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 186 |       "cpu": [
 187 |         "x64"
 188 |       ],
 189 |       "dev": true,
 190 |       "optional": true,
 191 |       "os": [
 192 |         "android"
 193 |       ],
 194 |       "engines": {
 195 |         "node": ">=18"
 196 |       }
 197 |     },
 198 |     "node_modules/@esbuild/darwin-arm64": {
 199 |       "version": "0.25.2",
 200 |       "resolved": "https://registry.npmjs.org/@esbuild/darwin-arm64/-/darwin-arm64-0.25.2.tgz",
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 202 |       "cpu": [
 203 |         "arm64"
 204 |       ],
 205 |       "dev": true,
 206 |       "optional": true,
 207 |       "os": [
 208 |         "darwin"
 209 |       ],
 210 |       "engines": {
 211 |         "node": ">=18"
 212 |       }
 213 |     },
 214 |     "node_modules/@esbuild/darwin-x64": {
 215 |       "version": "0.25.2",
 216 |       "resolved": "https://registry.npmjs.org/@esbuild/darwin-x64/-/darwin-x64-0.25.2.tgz",
 217 |       "integrity": "sha512-5eRPrTX7wFyuWe8FqEFPG2cU0+butQQVNcT4sVipqjLYQjjh8a8+vUTfgBKM88ObB85ahsnTwF7PSIt6PG+QkA==",
 218 |       "cpu": [
 219 |         "x64"
 220 |       ],
 221 |       "dev": true,
 222 |       "optional": true,
 223 |       "os": [
 224 |         "darwin"
 225 |       ],
 226 |       "engines": {
 227 |         "node": ">=18"
 228 |       }
 229 |     },
 230 |     "node_modules/@esbuild/freebsd-arm64": {
 231 |       "version": "0.25.2",
 232 |       "resolved": "https://registry.npmjs.org/@esbuild/freebsd-arm64/-/freebsd-arm64-0.25.2.tgz",
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 234 |       "cpu": [
 235 |         "arm64"
 236 |       ],
 237 |       "dev": true,
 238 |       "optional": true,
 239 |       "os": [
 240 |         "freebsd"
 241 |       ],
 242 |       "engines": {
 243 |         "node": ">=18"
 244 |       }
 245 |     },
 246 |     "node_modules/@esbuild/freebsd-x64": {
 247 |       "version": "0.25.2",
 248 |       "resolved": "https://registry.npmjs.org/@esbuild/freebsd-x64/-/freebsd-x64-0.25.2.tgz",
 249 |       "integrity": "sha512-6qyyn6TjayJSwGpm8J9QYYGQcRgc90nmfdUb0O7pp1s4lTY+9D0H9O02v5JqGApUyiHOtkz6+1hZNvNtEhbwRQ==",
 250 |       "cpu": [
 251 |         "x64"
 252 |       ],
 253 |       "dev": true,
 254 |       "optional": true,
 255 |       "os": [
 256 |         "freebsd"
 257 |       ],
 258 |       "engines": {
 259 |         "node": ">=18"
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1120 |       "integrity": "sha512-rxEXdSI+ArlG1RyO6FghC4ZUX8JkEfz8F3v1JuteXSV0pEtHJzyo07fcDG+NsJfN5L39kSbCYbB9cBGHyuI/tQ==",
1121 |       "funding": {
1122 |         "url": "https://github.com/sponsors/cocopon"
1123 |       }
1124 |     },
1125 |     "node_modules/tweakpane-plugin-infodump": {
1126 |       "version": "4.0.2",
1127 |       "resolved": "https://registry.npmjs.org/tweakpane-plugin-infodump/-/tweakpane-plugin-infodump-4.0.2.tgz",
1128 |       "integrity": "sha512-zJOFZ1JVMNgsOdY+1+pGDgNYAWY/Zdmr1rRFVwFfVqqmDMYmhDriCnU7zWKP6SI5cTE+7iFjJrg2tAjfiRZiLw==",
1129 |       "dependencies": {
1130 |         "slimdown-js": "^1.0.0"
1131 |       },
1132 |       "peerDependencies": {
1133 |         "tweakpane": "^4.0.0"
1134 |       }
1135 |     },
1136 |     "node_modules/vite": {
1137 |       "version": "6.3.2",
1138 |       "resolved": "https://registry.npmjs.org/vite/-/vite-6.3.2.tgz",
1139 |       "integrity": "sha512-ZSvGOXKGceizRQIZSz7TGJ0pS3QLlVY/9hwxVh17W3re67je1RKYzFHivZ/t0tubU78Vkyb9WnHPENSBCzbckg==",
1140 |       "dev": true,
1141 |       "dependencies": {
1142 |         "esbuild": "^0.25.0",
1143 |         "fdir": "^6.4.3",
1144 |         "picomatch": "^4.0.2",
1145 |         "postcss": "^8.5.3",
1146 |         "rollup": "^4.34.9",
1147 |         "tinyglobby": "^0.2.12"
1148 |       },
1149 |       "bin": {
1150 |         "vite": "bin/vite.js"
1151 |       },
1152 |       "engines": {
1153 |         "node": "^18.0.0 || ^20.0.0 || >=22.0.0"
1154 |       },
1155 |       "funding": {
1156 |         "url": "https://github.com/vitejs/vite?sponsor=1"
1157 |       },
1158 |       "optionalDependencies": {
1159 |         "fsevents": "~2.3.3"
1160 |       },
1161 |       "peerDependencies": {
1162 |         "@types/node": "^18.0.0 || ^20.0.0 || >=22.0.0",
1163 |         "jiti": ">=1.21.0",
1164 |         "less": "*",
1165 |         "lightningcss": "^1.21.0",
1166 |         "sass": "*",
1167 |         "sass-embedded": "*",
1168 |         "stylus": "*",
1169 |         "sugarss": "*",
1170 |         "terser": "^5.16.0",
1171 |         "tsx": "^4.8.1",
1172 |         "yaml": "^2.4.2"
1173 |       },
1174 |       "peerDependenciesMeta": {
1175 |         "@types/node": {
1176 |           "optional": true
1177 |         },
1178 |         "jiti": {
1179 |           "optional": true
1180 |         },
1181 |         "less": {
1182 |           "optional": true
1183 |         },
1184 |         "lightningcss": {
1185 |           "optional": true
1186 |         },
1187 |         "sass": {
1188 |           "optional": true
1189 |         },
1190 |         "sass-embedded": {
1191 |           "optional": true
1192 |         },
1193 |         "stylus": {
1194 |           "optional": true
1195 |         },
1196 |         "sugarss": {
1197 |           "optional": true
1198 |         },
1199 |         "terser": {
1200 |           "optional": true
1201 |         },
1202 |         "tsx": {
1203 |           "optional": true
1204 |         },
1205 |         "yaml": {
1206 |           "optional": true
1207 |         }
1208 |       }
1209 |     },
1210 |     "node_modules/vite-plugin-tsl-operator": {
1211 |       "version": "1.2.3",
1212 |       "resolved": "https://registry.npmjs.org/vite-plugin-tsl-operator/-/vite-plugin-tsl-operator-1.2.3.tgz",
1213 |       "integrity": "sha512-ss5SiUmcxtzbvBHAt6vZggBiueoyq2h9iHQcwJorgArs550N1cRY+Vb5/R4vlLh0OzyMN4d0uuiInu44/0HIYg==",
1214 |       "dev": true
1215 |     }
1216 |   }
1217 | }
1218 | 


--------------------------------------------------------------------------------
/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "softbodies",
 3 |   "private": true,
 4 |   "version": "0.0.1",
 5 |   "type": "module",
 6 |   "scripts": {
 7 |     "dev": "vite --host",
 8 |     "build": "vite build --mode=production",
 9 |     "preview": "vite preview"
10 |   },
11 |   "devDependencies": {
12 |     "@babel/generator": "^7.26.9",
13 |     "@babel/parser": "^7.26.9",
14 |     "@babel/traverse": "^7.26.9",
15 |     "@babel/types": "^7.26.9",
16 |     "vite": "^6.3.1",
17 |     "vite-plugin-tsl-operator": "^1.2.3"
18 |   },
19 |   "dependencies": {
20 |     "@tweakpane/plugin-essentials": "^0.2.1",
21 |     "is-mobile": "^5.0.0",
22 |     "three": "^0.176.0",
23 |     "tweakpane": "^4.0.5",
24 |     "tweakpane-plugin-infodump": "^4.0.2"
25 |   }
26 | }
27 | 


--------------------------------------------------------------------------------
/src/FEMPhysics/FEMPhysics.js:
--------------------------------------------------------------------------------
  1 | import * as THREE from "three/webgpu";
  2 | import {
  3 |     Fn,
  4 |     instancedArray,
  5 |     instanceIndex,
  6 |     float,
  7 |     uint,
  8 |     vec3,
  9 |     vec2,
 10 |     sin,
 11 |     vec4,
 12 |     cross,
 13 |     mul,
 14 |     mat3,
 15 |     int,
 16 |     dot,
 17 |     abs,
 18 |     div,
 19 |     length,
 20 |     If,
 21 |     Loop,
 22 |     Break,
 23 |     normalize, Return, uniform, select, time, mix, min, uniformArray, ivec3, atomicAdd, atomicStore, atomicFunc, uvec3, struct
 24 | } from "three/tsl";
 25 | import {SoftbodyGeometry} from "./softbodyGeometry.js";
 26 | import {conf} from "../conf";
 27 | import {StructuredArray} from "./structuredArray.js";
 28 | import { murmurHash13, rotateByQuat, quat_conj, quat_mult, extractRotation } from "./math.js";
 29 | import {Grid} from "./grid.js";
 30 | 
 31 | export class FEMPhysics {
 32 |     vertices = [];
 33 | 
 34 |     tets = [];
 35 | 
 36 |     geometries = [];
 37 | 
 38 |     objects = [];
 39 | 
 40 |     objectData = [];
 41 | 
 42 |     vertexCount = 0;
 43 | 
 44 |     tetCount = 0;
 45 | 
 46 |     density = 1000;
 47 | 
 48 |     kernels = {};
 49 | 
 50 |     uniforms = {};
 51 | 
 52 |     time = 0;
 53 | 
 54 |     frameNum = 0;
 55 | 
 56 |     timeSinceLastStep = 0;
 57 | 
 58 |     colliders = [];
 59 | 
 60 |     objectCount = 0;
 61 | 
 62 |     constructor(renderer) {
 63 |         this.renderer = renderer;
 64 |         this.object = new THREE.Object3D();
 65 |     }
 66 | 
 67 |     addVertex(objectId,x,y,z) {
 68 |         const id = this.vertexCount;
 69 |         const vertex = new THREE.Vector3(x,y,z);
 70 |         vertex.id = id;
 71 |         vertex.objectId = objectId;
 72 |         vertex.influencers = [];
 73 |         this.vertices.push(vertex);
 74 | 
 75 |         const objectDataElement = this.objectData[objectId];
 76 |         const distance = vertex.length();
 77 |         if (distance < objectDataElement.centerVertexDistance) {
 78 |             objectDataElement.centerVertexDistance = distance;
 79 |             objectDataElement.centerVertex = vertex;
 80 |         }
 81 | 
 82 |         objectDataElement.vertexCount++;
 83 |         this.vertexCount++;
 84 |         return vertex;
 85 |     }
 86 | 
 87 |     addTet(objectId,v0,v1,v2,v3) {
 88 |         const id = this.tetCount;
 89 |         const tet = {id,v0,v1,v2,v3,objectId};
 90 |         this.tets.push(tet);
 91 |         v0.influencers.push(id * 4 + 0);
 92 |         v1.influencers.push(id * 4 + 1);
 93 |         v2.influencers.push(id * 4 + 2);
 94 |         v3.influencers.push(id * 4 + 3);
 95 |         this.objectData[objectId].tetCount++;
 96 |         this.tetCount++;
 97 |         return tet;
 98 |     }
 99 | 
100 |     _addObject(object) {
101 |         const id = this.objects.length;
102 |         this.objects.push(object);
103 | 
104 |         const params = {
105 |             id,
106 |             centerVertexDistance: 1e9,
107 |             centerVertex: null,
108 |             tetStart: this.tetCount,
109 |             tetCount: 0,
110 |             vertexStart: this.vertexCount,
111 |             vertexCount: 0,
112 |             position: new THREE.Vector3(),
113 |         };
114 | 
115 |         this.objectData.push(params);
116 |         return params;
117 |     }
118 | 
119 |     addGeometry(model, materialClass = THREE.MeshPhysicalNodeMaterial) {
120 |         const geometry = new SoftbodyGeometry(this, model, materialClass);
121 |         this.geometries.push(geometry);
122 |         return geometry;
123 |     }
124 | 
125 |     addInstance(geometry) {
126 |         return geometry.addInstance();
127 |     }
128 | 
129 |     addCollider(collider) {
130 |         this.colliders.push(collider);
131 |     }
132 | 
133 |     getPosition(objectId) {
134 |         return this.objectData[objectId].position;
135 |     }
136 | 
137 |     async bake() {
138 |         console.log(this.vertexCount + " vertices");
139 |         console.log(this.tetCount + " tetrahedrons");
140 | 
141 |         // ################
142 |         //  CREATE BUFFERS
143 |         // ################
144 | 
145 |         const tetStruct = {
146 |             restVolume: "float",
147 |             radius: "float",
148 |             objectId: "uint",
149 |             nextTet: "int",
150 |             quat: "vec4",
151 |             initialPosition: "vec3",
152 |             centroid: "vec3",
153 |             vertexIds: "uvec4",
154 |         };
155 |         const tetBuffer = new StructuredArray(tetStruct, this.tetCount, "tets");
156 |         this.tetBuffer = tetBuffer;
157 | 
158 |         const restposeStruct = {
159 |             position: "vec3",
160 |             restVolume: "float",
161 |         };
162 |         const restPosesBuffer = new StructuredArray(restposeStruct, this.tetCount * 4, "restPoses");
163 |         this.restPosesBuffer = restPosesBuffer;
164 | 
165 |         let maxRadius = 0;
166 |         this.tets.forEach((tet,index) => {
167 |             const { v0, v1, v2, v3 } = tet;
168 |             const center = v0.clone().add(v1).add(v2).add(v3).multiplyScalar(0.25);
169 |             const a = v1.clone().sub(v0);
170 |             const b = v2.clone().sub(v0);
171 |             const c = v3.clone().sub(v0);
172 |             const V = Math.abs(a.cross(b).dot(c)) / 6;
173 |             const radius = (Math.pow((3/4) * V / Math.PI, 1/3));
174 |             maxRadius = Math.max(maxRadius, radius);
175 |             const vs = [v0, v1, v2, v3];
176 |             vs.forEach((vertex,subindex) => {
177 |                 restPosesBuffer.set(index*4 + subindex, "position", vertex);
178 |                 restPosesBuffer.set(index*4 + subindex, "restVolume", V);
179 |             });
180 | 
181 |             tetBuffer.set(index, "initialPosition", center);
182 |             tetBuffer.set(index, "vertexIds", [v0.id,v1.id,v2.id,v3.id]);
183 |             tetBuffer.set(index, "restVolume", V);
184 |             tetBuffer.set(index, "quat", [0,0,0,1]);
185 |             tetBuffer.set(index, "objectId", tet.objectId);
186 |             tetBuffer.set(index, "radius", radius);
187 |         });
188 |         console.log("maxRadius", maxRadius);
189 | 
190 | 
191 |         const vertexStruct = {
192 |             objectId: "uint",
193 |             influencerPtr: "uint",
194 |             influencerCount: "uint",
195 |             initialPosition: "vec3",
196 |             position: "vec3",
197 |             prevPosition: "vec3",
198 |         };
199 |         const vertexBuffer = new StructuredArray(vertexStruct, this.vertexCount, "vertices");
200 |         this.vertexBuffer = vertexBuffer;
201 | 
202 |         const influencerArray = new Uint32Array(this.tetCount * 4);
203 |         let influencerPtr = 0;
204 |         this.vertices.forEach((vertex, index) => {
205 |             vertexBuffer.set(index, "initialPosition", vertex);
206 |             //vertexBuffer.set(index, "position", vertex);
207 |             vertexBuffer.set(index, "prevPosition", vertex);
208 |             vertexBuffer.set(index, "influencerPtr", influencerPtr);
209 |             vertexBuffer.set(index, "influencerCount", vertex.influencers.length);
210 |             vertexBuffer.set(index, "objectId", vertex.objectId);
211 | 
212 |             vertex.influencers.forEach(influencer => {
213 |                 influencerArray[influencerPtr] = influencer;
214 |                 influencerPtr++;
215 |             });
216 |         });
217 | 
218 |         const objectStruct = {
219 |             size: "float",
220 |             centerVertex: "uint",
221 |         }
222 |         const objectBuffer = new StructuredArray(objectStruct, this.objects.length, "objects");
223 |         this.objectBuffer = objectBuffer;
224 |         this.objectData.forEach((objectData, index) => {
225 |             objectBuffer.set(index, "size", 0.0);
226 |             objectBuffer.set(index, "centerVertex", objectData.centerVertex.id);
227 |         });
228 | 
229 | 
230 |         this.influencerBuffer = instancedArray(influencerArray, 'uint');
231 | 
232 |         const gridCellSize = maxRadius * 2; //0.36
233 |         this.grid = new Grid(gridCellSize, "basic");
234 | 
235 | 
236 |         // #################
237 |         //  CREATE UNIFORMS
238 |         // #################
239 | 
240 |         this.uniforms.vertexCount = uniform(this.vertexCount, "int");
241 |         this.uniforms.tetCount = uniform(this.tetCount, "int");
242 |         this.uniforms.time = uniform(0, "float");
243 |         this.uniforms.dt = uniform(1, "float");
244 |         this.uniforms.gravity = uniform(new THREE.Vector3(0,-9.81*2,0), "vec3");
245 |         //this.uniforms.scales = uniformArray(new Array(this.objectData.length).fill(0), "float");
246 |         this.uniforms.rotationRefinementSteps = uniform(2, "int");
247 |         //conf.settings.addBinding(this.uniforms.rotationRefinementSteps, "value", { min: 1, max: 9, step: 1 });
248 | 
249 | 
250 |         // ################
251 |         //  CREATE KERNELS
252 |         // ################
253 | 
254 |         //console.time("clearHashMap");
255 |         await this.grid.clearBuffer(this.renderer) //call once to compile
256 |         //console.timeEnd("clearHashMap");
257 | 
258 | 
259 |         this.kernels.solveElemPass = Fn(() => {
260 |             this.grid.setAtomic(true);
261 |             If(instanceIndex.greaterThanEqual(this.uniforms.tetCount), () => {
262 |                 Return();
263 |             });
264 |             const objectId = tetBuffer.get(instanceIndex, "objectId");
265 |             const size = objectBuffer.get(objectId, "size");
266 |             If(size.lessThan(0.0001), () => {
267 |                 Return();
268 |             });
269 | 
270 |             // Gather this tetrahedron's 4 vertex positions
271 |             const vertexIds = tetBuffer.get(instanceIndex, "vertexIds").toVar();
272 |             const pos0 = vertexBuffer.get(vertexIds.x, "position").toVar();
273 |             const pos1 = vertexBuffer.get(vertexIds.y, "position").toVar();
274 |             const pos2 = vertexBuffer.get(vertexIds.z, "position").toVar();
275 |             const pos3 = vertexBuffer.get(vertexIds.w, "position").toVar();
276 | 
277 |             // The Reference Rest Pose Positions
278 |             // These are the same as the resting pose, but they're already pre-rotated
279 |             // to a good approximation of the current pose
280 |             const ref0 = restPosesBuffer.get(instanceIndex.mul(4), "position").toVar();
281 |             const ref1 = restPosesBuffer.get(instanceIndex.mul(4).add(1), "position").toVar();
282 |             const ref2 = restPosesBuffer.get(instanceIndex.mul(4).add(2), "position").toVar();
283 |             const ref3 = restPosesBuffer.get(instanceIndex.mul(4).add(3), "position").toVar();
284 | 
285 |             // Get the centroids
286 |             const curCentroid = pos0.add(pos1).add(pos2).add(pos3).mul(0.25).toVar();
287 |             const lastRestCentroid = ref0.add(ref1).add(ref2).add(ref3).mul(0.25).toVar();
288 | 
289 |             // Center the Deformed Tetrahedron
290 |             pos0.subAssign(curCentroid);
291 |             pos1.subAssign(curCentroid);
292 |             pos2.subAssign(curCentroid);
293 |             pos3.subAssign(curCentroid);
294 | 
295 |             // Center the Undeformed Tetrahedron
296 |             ref0.subAssign(lastRestCentroid);
297 |             ref1.subAssign(lastRestCentroid);
298 |             ref2.subAssign(lastRestCentroid);
299 |             ref3.subAssign(lastRestCentroid);
300 | 
301 |             // Find the rotational offset between the two and rotate the undeformed tetrahedron by it
302 |             const covariance = mat3(0,0,0,0,0,0,0,0,0).toVar();
303 |             covariance.element(0).xyz.addAssign(ref0.xxx.mul(pos0));
304 |             covariance.element(1).xyz.addAssign(ref0.yyy.mul(pos0));
305 |             covariance.element(2).xyz.addAssign(ref0.zzz.mul(pos0));
306 |             covariance.element(0).xyz.addAssign(ref1.xxx.mul(pos1));
307 |             covariance.element(1).xyz.addAssign(ref1.yyy.mul(pos1));
308 |             covariance.element(2).xyz.addAssign(ref1.zzz.mul(pos1));
309 |             covariance.element(0).xyz.addAssign(ref2.xxx.mul(pos2));
310 |             covariance.element(1).xyz.addAssign(ref2.yyy.mul(pos2));
311 |             covariance.element(2).xyz.addAssign(ref2.zzz.mul(pos2));
312 |             covariance.element(0).xyz.addAssign(ref3.xxx.mul(pos3));
313 |             covariance.element(1).xyz.addAssign(ref3.yyy.mul(pos3));
314 |             covariance.element(2).xyz.addAssign(ref3.zzz.mul(pos3));
315 |             const rotation = extractRotation(covariance, vec4(0.0, 0.0, 0.0, 1.0), this.uniforms.rotationRefinementSteps);
316 | 
317 |             // Write out the undeformed tetrahedron
318 |             const prevQuat = tetBuffer.get(instanceIndex, "quat").toVar();
319 |             const newQuat = normalize(quat_mult(rotation, prevQuat)); // Keep track of the current Quaternion for normals
320 |             tetBuffer.get(instanceIndex, "quat").assign(newQuat);
321 | 
322 |             const relativeQuat = normalize(quat_mult(newQuat, quat_conj(prevQuat)));
323 | 
324 |             // Rotate the undeformed tetrahedron by the deformed's rotationf
325 |             ref0.assign(rotateByQuat(ref0, relativeQuat).add(curCentroid));
326 |             ref1.assign(rotateByQuat(ref1, relativeQuat).add(curCentroid));
327 |             ref2.assign(rotateByQuat(ref2, relativeQuat).add(curCentroid));
328 |             ref3.assign(rotateByQuat(ref3, relativeQuat).add(curCentroid));
329 | 
330 |             tetBuffer.get(instanceIndex, "centroid").assign(curCentroid);
331 |             restPosesBuffer.get(instanceIndex.mul(4), "position").assign(ref0);
332 |             restPosesBuffer.get(instanceIndex.mul(4).add(1), "position").assign(ref1);
333 |             restPosesBuffer.get(instanceIndex.mul(4).add(2), "position").assign(ref2);
334 |             restPosesBuffer.get(instanceIndex.mul(4).add(3), "position").assign(ref3);
335 | 
336 |             const gridElement = this.grid.getElement(curCentroid);
337 |             tetBuffer.get(instanceIndex, "nextTet").assign(atomicFunc("atomicExchange", gridElement, instanceIndex));
338 | 
339 |         })().compute(this.tetCount);
340 |         //console.time("solveElemPass");
341 |         await this.renderer.computeAsync(this.kernels.solveElemPass); //call once to compile
342 |         //console.timeEnd("solveElemPass");
343 | 
344 | 
345 |         this.kernels.solveCollisions = Fn(() => {
346 |             this.grid.setAtomic(false);
347 |             If(instanceIndex.greaterThanEqual(this.uniforms.tetCount), () => {
348 |                 Return();
349 |             });
350 |             const objectId = tetBuffer.get(instanceIndex, "objectId").toVar();
351 |             const size = objectBuffer.get(objectId, "size");
352 |             If(size.lessThan(0.0001), () => {
353 |                 Return();
354 |             });
355 | 
356 |             const centroid = tetBuffer.get(instanceIndex, "centroid").toVar("centroid");
357 |             const position = centroid.toVar("pos");
358 |             const radius = tetBuffer.get(instanceIndex, "radius").toVar();
359 |             const initialPosition = tetBuffer.get(instanceIndex, "initialPosition").toVar();
360 | 
361 |             const cellIndex =  ivec3(position.div(this.grid.cellsize).floor()).sub(1).toConst("cellIndex");
362 |             const diff = vec3(0).toVar();
363 |             const totalForce = float(0).toVar();
364 | 
365 |             //If(uint(1).greaterThan(uint(0)), () => { Return(); });
366 |             Loop({ start: 0, end: 3, type: 'int', name: 'gx', condition: '<' }, ({gx}) => {
367 |                 Loop({ start: 0, end: 3, type: 'int', name: 'gy', condition: '<' }, ({gy}) => {
368 |                     Loop({ start: 0, end: 3, type: 'int', name: 'gz', condition: '<' }, ({gz}) => {
369 |                         const cellX = cellIndex.add(ivec3(gx,gy,gz)).toConst();
370 |                         const tetPtr = this.grid.getElementFromIndex(cellX).toVar('tetPtr');
371 |                         Loop(tetPtr.notEqual(int(-1)), () => {
372 |                             const checkCollision = uint(1).toVar();
373 |                             const objectId2 = tetBuffer.get(tetPtr, "objectId");
374 |                             If(objectId.equal(objectId2), () => {
375 |                                 const initialPosition2 = tetBuffer.get(tetPtr, "initialPosition")
376 |                                 const delta = initialPosition2.sub(initialPosition).toVar();
377 |                                 const distSquared = dot(delta,delta);
378 |                                 checkCollision.assign(select(distSquared.greaterThan(1.5*1.5), uint(1), uint(0)));
379 |                             });
380 | 
381 |                             If(checkCollision.equal(uint(1)), () => {
382 |                                 const centroid_2 = tetBuffer.get(tetPtr, "centroid").toVar("centroid2");
383 |                                 const radius2 = tetBuffer.get(tetPtr, "radius").toVar();
384 | 
385 |                                 const minDist = radius.add(radius2);
386 |                                 const dist = centroid.distance(centroid_2);
387 |                                 const dir = centroid.sub(centroid_2).div(dist);
388 |                                 const force = minDist.sub(dist).max(0);
389 |                                 totalForce.addAssign(force.div(minDist));
390 |                                 diff.addAssign(dir.mul(force).mul(0.5));
391 |                             });
392 |                             tetPtr.assign(tetBuffer.get(tetPtr, "nextTet"));
393 |                         })
394 |                     });
395 |                 });
396 |             });
397 |             If(totalForce.greaterThan(0.0), () => {
398 |                 //diff.divAssign(totalForce);
399 |                 restPosesBuffer.get(instanceIndex.mul(4), "position").addAssign(diff);
400 |                 restPosesBuffer.get(instanceIndex.mul(4).add(1), "position").addAssign(diff);
401 |                 restPosesBuffer.get(instanceIndex.mul(4).add(2), "position").addAssign(diff);
402 |                 restPosesBuffer.get(instanceIndex.mul(4).add(3), "position").addAssign(diff);
403 |             });
404 |         })().compute(this.tetCount);
405 |         //console.time("solveCollisions");
406 |         await this.renderer.computeAsync(this.kernels.solveCollisions); //call once to compile
407 |         //console.timeEnd("solveCollisions");
408 | 
409 | 
410 |         this.kernels.applyElemPass = Fn(()=>{
411 |             If(instanceIndex.greaterThanEqual(this.uniforms.vertexCount), () => {
412 |                 Return();
413 |             });
414 |             const objectId = vertexBuffer.get(instanceIndex, "objectId");
415 |             const size = objectBuffer.get(objectId, "size");
416 |             If(size.lessThan(0.0001), () => {
417 |                 Return();
418 |             });
419 | 
420 |             const prevPosition = vertexBuffer.get(instanceIndex, "prevPosition").toVar();
421 |             const ptrStart = vertexBuffer.get(instanceIndex, "influencerPtr").toVar();
422 |             const ptrEnd = ptrStart.add(vertexBuffer.get(instanceIndex, "influencerCount")).toVar();
423 |             const position = vec3().toVar();
424 |             const weight = float().toVar();
425 |             Loop({ start: ptrStart, end: ptrEnd,  type: 'uint', condition: '<' }, ({ i })=>{
426 |                 const restPositionPtr = this.influencerBuffer.element(i);
427 |                 const restPosition = restPosesBuffer.get(restPositionPtr, "position");
428 |                 const restVolume = restPosesBuffer.get(restPositionPtr, "restVolume");
429 |                 position.addAssign(restPosition.mul(restVolume));
430 |                 weight.addAssign(restVolume);
431 |             });
432 |             position.divAssign(weight);
433 |             //const currentPosition = this.positionBuffer.element(instanceIndex).toVar();
434 | 
435 |             vertexBuffer.get(instanceIndex, "prevPosition").assign(position);
436 | 
437 |             const { dt, gravity } = this.uniforms;
438 |             const gravity2 = position.normalize().mul(-9.81).mul(1);
439 |             const velocity = position.sub(prevPosition).div(dt).add(gravity2.mul(dt)).mul(0.999);
440 |             position.addAssign(velocity.mul(dt));
441 | 
442 |             const F = prevPosition.sub(position);
443 |             const frictionDir = vec3(0).toVar();
444 |             this.colliders.forEach((collider) => {
445 |                 const colliderResult = collider(position);
446 |                 const diff = colliderResult.w.min(0).negate().toVar();
447 |                 position.addAssign(diff.mul(colliderResult.xyz));
448 |                 frictionDir.addAssign(colliderResult.xyz.abs().oneMinus().mul(diff.sign()));
449 |             });
450 |             position.xyz.addAssign(F.mul(frictionDir).mul(min(1.0, dt.mul(100))));
451 | 
452 |             vertexBuffer.get(instanceIndex, "position").assign(position);
453 |         })().compute(this.vertexCount);
454 |         //console.time("applyElemPass");
455 |         await this.renderer.computeAsync(this.kernels.applyElemPass); //call once to compile
456 |         //console.timeEnd("applyElemPass");
457 | 
458 | 
459 |         // ######################
460 |         //  CREATE RESET KERNELS
461 |         // ######################
462 | 
463 |         this.uniforms.resetVertexStart = uniform(0, "uint");
464 |         this.uniforms.resetVertexCount = uniform(0, "uint");
465 |         this.uniforms.resetVelocity = uniform(new THREE.Vector3());
466 |         this.uniforms.resetMatrix = uniform(new THREE.Matrix4());
467 |         this.uniforms.resetQuat = uniform(new THREE.Vector4());
468 |         this.kernels.resetVertices = Fn(()=>{
469 |             If(instanceIndex.greaterThanEqual(this.uniforms.resetVertexCount), () => {
470 |                 Return();
471 |             });
472 |             const vertexId = this.uniforms.resetVertexStart.add(instanceIndex).toVar();
473 | 
474 |             If(instanceIndex.equal(uint(0)), () => {
475 |                 const objectId = vertexBuffer.get(vertexId, "objectId").toVar();
476 |                 objectBuffer.get(objectId, "size").assign(1.0);
477 |             });
478 | 
479 | 
480 |             const initialPosition = this.uniforms.resetMatrix.mul(vec4(vertexBuffer.get(vertexId, "initialPosition").xyz, 1)).xyz.toVar();
481 |             vertexBuffer.get(vertexId, "position").assign(initialPosition);
482 |             vertexBuffer.get(vertexId, "prevPosition").assign(initialPosition.sub(this.uniforms.resetVelocity));
483 |         })().compute(this.vertexCount);
484 |         //console.time("resetVertices");
485 |         await this.renderer.computeAsync(this.kernels.resetVertices); //call once to compile
486 |         //console.timeEnd("resetVertices");
487 | 
488 | 
489 |         this.uniforms.resetTetStart = uniform(0, "uint");
490 |         this.uniforms.resetTetCount = uniform(0, "uint");
491 |         this.kernels.resetTets = Fn(() => {
492 |             If(instanceIndex.greaterThanEqual(this.uniforms.resetTetCount), () => {
493 |                 Return();
494 |             });
495 |             const tetId = this.uniforms.resetTetStart.add(instanceIndex).toVar();
496 |             const volume  = tetBuffer.get(tetId, "restVolume").toVar();
497 | 
498 |             // Gather this tetrahedron's 4 vertex positions
499 |             const vertexIds = tetBuffer.get(tetId, "vertexIds");
500 |             const pos0 = this.uniforms.resetMatrix.mul(vec4(vertexBuffer.get(vertexIds.x, "initialPosition").xyz, 1)).xyz.toVar();
501 |             const pos1 = this.uniforms.resetMatrix.mul(vec4(vertexBuffer.get(vertexIds.y, "initialPosition").xyz, 1)).xyz.toVar();
502 |             const pos2 = this.uniforms.resetMatrix.mul(vec4(vertexBuffer.get(vertexIds.z, "initialPosition").xyz, 1)).xyz.toVar();
503 |             const pos3 = this.uniforms.resetMatrix.mul(vec4(vertexBuffer.get(vertexIds.w, "initialPosition").xyz, 1)).xyz.toVar();
504 | 
505 |             restPosesBuffer.get(tetId.mul(4), "position").assign(pos0);
506 |             restPosesBuffer.get(tetId.mul(4).add(1), "position").assign(pos1);
507 |             restPosesBuffer.get(tetId.mul(4).add(2), "position").assign(pos2);
508 |             restPosesBuffer.get(tetId.mul(4).add(3), "position").assign(pos3);
509 |             tetBuffer.get(tetId, "quat").assign(this.uniforms.resetQuat);
510 |         })().compute(this.tetCount);
511 |         //console.time("resetTets");
512 |         await this.renderer.computeAsync(this.kernels.resetTets); //call once to compile
513 |         //console.timeEnd("resetTets");
514 | 
515 |         this.uniforms.objectStart = uniform(0, "uint");
516 |         this.kernels.resetObjects = Fn(() => {
517 |             const objectId = this.uniforms.objectStart.add(instanceIndex).toVar();
518 |             objectBuffer.get(objectId, "size").assign(0.0);
519 |         })().compute(this.objects.length);
520 | 
521 | 
522 |         // ##################################
523 |         //  CREATE MOUSE INTERACTION KERNELS
524 |         // ##################################
525 | 
526 |         this.uniforms.mouseRayOrigin = uniform(new THREE.Vector3());
527 |         this.uniforms.mouseRayDirection = uniform(new THREE.Vector3());
528 |         this.kernels.applyMouseEvent = Fn(()=>{
529 |             If(instanceIndex.greaterThanEqual(this.uniforms.vertexCount), () => {
530 |                 Return();
531 |             });
532 | 
533 |             const objectId = vertexBuffer.get(instanceIndex, "objectId");
534 |             const size = objectBuffer.get(objectId, "size");
535 |             If(size.lessThan(0.0001), () => {
536 |                 Return();
537 |             });
538 | 
539 |             const { mouseRayOrigin, mouseRayDirection } = this.uniforms;
540 |             const position = vertexBuffer.get(instanceIndex, "position").toVar();
541 |             const prevPosition = vertexBuffer.get(instanceIndex, "prevPosition");
542 | 
543 |             const dist = cross(mouseRayDirection, position.sub(mouseRayOrigin)).length()
544 |             const force = dist.mul(0.3).oneMinus().max(0.0).pow(0.5);
545 |             prevPosition.addAssign(vec3(0,-0.25,0).mul(force));
546 |         })().compute(this.vertexCount);
547 |         //console.time("applyMouseEvent");
548 |         await this.renderer.computeAsync(this.kernels.applyMouseEvent); //call once to compile
549 |         //console.timeEnd("applyMouseEvent");
550 | 
551 | 
552 |         // #############################
553 |         //  CREATE POSITION READ KERNEL
554 |         // #############################
555 | 
556 |         const centerVertexArray = new Uint32Array(this.objectData.map(d => d.centerVertex.id));
557 |         this.centerVertexBuffer = instancedArray(centerVertexArray, 'uint');
558 |         this.positionReadbackBuffer = instancedArray(new Float32Array(this.objects.length*3), 'vec3');
559 |         this.kernels.readPositions = Fn(()=>{
560 |             const centerVertex = this.centerVertexBuffer.element(instanceIndex);
561 |             const position = vertexBuffer.get(centerVertex, "position");
562 |             this.positionReadbackBuffer.element(instanceIndex).assign(position);
563 |         })().compute(this.objects.length);
564 |         await this.renderer.computeAsync(this.kernels.readPositions); //call once to compile
565 | 
566 | 
567 |         // ####################
568 |         //  BAKE OTHER OBJECTS
569 |         // ####################
570 | 
571 |         const geometryPromises = this.geometries.map(geom => geom.bake(this));
572 |         await Promise.all(geometryPromises);
573 |     }
574 | 
575 |     async readPositions() {
576 |         await this.renderer.computeAsync(this.kernels.readPositions);
577 |         const positions = new Float32Array(await this.renderer.getArrayBufferAsync(this.positionReadbackBuffer.value));
578 |         this.objectData.forEach((o, index) => {
579 |             const x = positions[index*4+0];
580 |             const y = positions[index*4+1];
581 |             const z = positions[index*4+2];
582 |             o.position.set(x,y,z);
583 |         });
584 |     }
585 | 
586 |     async resetObject(id, position, quaternion, scale, velocity = new THREE.Vector3()) {
587 |         this.objectData[id].position.copy(position);
588 | 
589 |         this.uniforms.resetMatrix.value.compose(position, quaternion, scale);
590 |         this.uniforms.resetQuat.value.copy(quaternion);
591 |         this.uniforms.resetVertexStart.value = this.objectData[id].vertexStart;
592 |         this.uniforms.resetVertexCount.value = this.objectData[id].vertexCount;
593 |         this.uniforms.resetTetStart.value = this.objectData[id].tetStart;
594 |         this.uniforms.resetTetCount.value = this.objectData[id].tetCount;
595 |         //this.uniforms.resetOffset.value.copy(position);
596 |         this.uniforms.resetVelocity.value.copy(velocity);
597 |         //this.uniforms.resetScale.value = scale;
598 |         this.kernels.resetVertices.count = this.objectData[id].vertexCount;
599 |         this.kernels.resetTets.count = this.objectData[id].tetCount;
600 |         this.kernels.resetVertices.updateDispatchCount();
601 |         this.kernels.resetTets.updateDispatchCount();
602 |         await this.renderer.computeAsync(this.kernels.resetVertices);
603 |         await this.renderer.computeAsync(this.kernels.resetTets);
604 |     }
605 | 
606 |     async onPointerDown(origin, direction) {
607 |         this.uniforms.mouseRayOrigin.value.copy(origin);
608 |         this.uniforms.mouseRayDirection.value.copy(direction);
609 |         await this.renderer.computeAsync(this.kernels.applyMouseEvent);
610 |     }
611 | 
612 |     async update(interval, elapsed) {
613 |         const { stepsPerSecond, bodies } = conf;
614 |         this.frameNum++;
615 | 
616 |         if (bodies !== this.objectCount) {
617 |             this.objectCount = bodies;
618 |             for (let i=this.objectCount; i<this.objects.length; i++) {
619 |                 this.objects[i].spawned = false;
620 |             }
621 | 
622 |             this.geometries.forEach(geom => geom.updateCount());
623 | 
624 |             const lastObject = this.objectData[this.objectCount - 1];
625 |             const tetCount = lastObject.tetStart + lastObject.tetCount;
626 |             const vertexCount = lastObject.vertexStart + lastObject.vertexCount;
627 | 
628 |             this.uniforms.tetCount.value = tetCount;
629 |             this.uniforms.vertexCount.value = vertexCount;
630 | 
631 |             this.kernels.solveElemPass.count = tetCount;
632 |             this.kernels.solveCollisions.count = tetCount;
633 |             this.kernels.applyElemPass.count = vertexCount;
634 |             this.kernels.applyMouseEvent.count = vertexCount;
635 | 
636 |             this.kernels.solveElemPass.updateDispatchCount();
637 |             this.kernels.solveCollisions.updateDispatchCount();
638 |             this.kernels.applyElemPass.updateDispatchCount();
639 |             this.kernels.applyMouseEvent.updateDispatchCount();
640 | 
641 |             this.uniforms.objectStart.value = this.objectCount;
642 |             await this.renderer.computeAsync(this.kernels.resetObjects);
643 |         }
644 | 
645 |         if (this.frameNum % 50 === 0) {
646 |             //this.readPositions().then(() => {}); // no await to prevent blocking!
647 |         }
648 | 
649 | 
650 |         const timePerStep = 1 / stepsPerSecond;
651 | 
652 |         interval = Math.max(Math.min(interval, 1/60), 0.0001);
653 |         this.uniforms.dt.value = timePerStep;
654 | 
655 |         this.timeSinceLastStep += interval;
656 | 
657 |         for (let i=0; i<this.objects.length; i++) {
658 |             const object = this.objects[i];
659 |             await object.update(interval, elapsed);
660 |         }
661 | 
662 |         while (this.timeSinceLastStep >= timePerStep) {
663 |             this.time += timePerStep;
664 |             this.timeSinceLastStep -= timePerStep;
665 |             this.uniforms.time.value = this.time;
666 |             await this.grid.clearBuffer(this.renderer);
667 |             await this.renderer.computeAsync(this.kernels.solveElemPass);
668 |             await this.renderer.computeAsync(this.kernels.solveCollisions);
669 |             await this.renderer.computeAsync(this.kernels.applyElemPass);
670 |         }
671 | 
672 | 
673 |         /*if (this.frameNum > 1) {
674 |             const hashMap = new Int32Array(await this.renderer.getArrayBufferAsync(this.grid.buffer.value));
675 |             const res = hashMap.filter(i => i >= 0);
676 |             console.log((res.length / hashMap.length) * 100 + "% filled");
677 |         }*/
678 |     }
679 | 
680 |     dispose() {
681 |         Object.keys(this.kernels).forEach(key => {
682 |             this.kernels[key].dispose();
683 |         })
684 |         this.geometries.forEach(geom => geom.dispose);
685 |     }
686 | }


--------------------------------------------------------------------------------
/src/FEMPhysics/grid.js:
--------------------------------------------------------------------------------
 1 | import {atomicFunc, Fn, instancedArray, instanceIndex, ivec3, uvec3, uint, int, float} from "three/tsl";
 2 | import {murmurHash13} from "./math.js";
 3 | 
 4 | export class Grid {
 5 |     cellsize = 1;
 6 |     type = "";
 7 |     buffer = null;
 8 | 
 9 |     constructor(cellsize, type = "basic") {
10 |         this.cellsize = cellsize;
11 |         this.type = type;
12 | 
13 |         if (type === "basic") {
14 |             this.gridsize1d = 80;
15 |             this.gridsize = this.gridsize1d * this.gridsize1d * this.gridsize1d;
16 |         } else if (type === "hash") {
17 |             this.gridsize = 1048573; // biggest prime below 2^20
18 |         } else {
19 |             console.error("Unrecognized grid type");
20 |         }
21 | 
22 |         this.buffer = instancedArray(this.gridsize, "int").toAtomic();
23 | 
24 |         this.clearKernel = Fn(() => {
25 |             this.buffer.setAtomic(false);
26 |             this.buffer.element(instanceIndex).assign(int(-1));
27 |         })().compute(this.gridsize);
28 | 
29 |     }
30 | 
31 |     async clearBuffer(renderer) {
32 |         await renderer.computeAsync(this.clearKernel);
33 |     }
34 | 
35 |     getElementFromIndex(ipos) {
36 |         if (this.type === "basic") {
37 |             const upos = uvec3(ipos.add(1073741823)).mod(this.gridsize1d).toVar();
38 |             const hash = upos.x.mul(this.gridsize1d*this.gridsize1d).add(upos.y.mul(this.gridsize1d)).add(upos.z).mod(this.gridsize).toVar("hash");
39 |             return this.buffer.element(hash);
40 |         } else if (this.type === "hash") {
41 |             const hash = murmurHash13(ipos).mod(uint(this.gridsize)).toVar("hash");
42 |             return this.buffer.element(hash);
43 |         }
44 |     }
45 | 
46 |     getElement(pos) {
47 |         const ipos = ivec3(pos.div(this.cellsize).floor());
48 |         return this.getElementFromIndex(ipos);
49 |     }
50 | 
51 |     setAtomic(value) {
52 |         this.buffer.setAtomic(value);
53 |     }
54 | }


--------------------------------------------------------------------------------
/src/FEMPhysics/math.js:
--------------------------------------------------------------------------------
  1 | import {
  2 |     abs, Break,
  3 |     cross,
  4 |     div, dot,
  5 |     float,
  6 |     Fn, If,
  7 |     int, length,
  8 |     Loop,
  9 |     mat3,
 10 |     mul,
 11 |     normalize,
 12 |     sin,
 13 |     uint,
 14 |     uvec3,
 15 |     vec2,
 16 |     vec3,
 17 |     vec4
 18 | } from "three/tsl";
 19 | 
 20 | export const murmurHash13 = /*#__PURE__*/ Fn( ( [ src_immutable ] ) => {
 21 |     const src = uvec3( src_immutable.add(1073741823) ).toVar(); // int to uint
 22 |     const M = uint( int( 0x5bd1e995 ) );
 23 |     const h = uint( uint( 1190494759 ) ).toVar();
 24 |     src.mulAssign( M );
 25 |     src.bitXorAssign( src.shiftRight( uvec3( 24 ) ) );
 26 |     src.mulAssign( M );
 27 |     h.mulAssign( M );
 28 |     h.bitXorAssign( src.x );
 29 |     h.mulAssign( M );
 30 |     h.bitXorAssign( src.y );
 31 |     h.mulAssign( M );
 32 |     h.bitXorAssign( src.z );
 33 |     h.bitXorAssign( h.shiftRight( uint( 13 ) ) );
 34 |     h.mulAssign( M );
 35 |     h.bitXorAssign( h.shiftRight( uint( 15 ) ) );
 36 |     return h;
 37 | } ).setLayout( {
 38 |     name: 'murmurHash13',
 39 |     type: 'uint',
 40 |     inputs: [
 41 |         { name: 'src', type: 'ivec3' }
 42 |     ]
 43 | } );
 44 | 
 45 | export const rotationToQuaternion = /*#__PURE__*/ Fn( ( [ axis_immutable, angle_immutable ] ) => {
 46 | 
 47 |     const angle = float( angle_immutable ).toVar();
 48 |     const axis = vec3( axis_immutable ).toVar();
 49 |     const half_angle = float( angle.mul( 0.5 ) ).toVar();
 50 |     const s = vec2( sin( vec2( half_angle, half_angle.add( Math.PI * 0.5 ) ) ) ).toVar();
 51 | 
 52 |     return vec4( axis.mul( s.x ), s.y );
 53 | 
 54 | } ).setLayout( {
 55 |     name: 'rotationToQuaternion',
 56 |     type: 'vec4',
 57 |     inputs: [
 58 |         { name: 'axis', type: 'vec3' },
 59 |         { name: 'angle', type: 'float' }
 60 |     ]
 61 | } );
 62 | 
 63 | export const rotateByQuat = /*#__PURE__*/ Fn( ( [ pos_immutable, quat_immutable ] ) => {
 64 | 
 65 |     const quat = vec4( quat_immutable ).toVar();
 66 |     const pos = vec3( pos_immutable ).toVar();
 67 | 
 68 |     return pos.add( mul( 2.0, cross( quat.xyz, cross( quat.xyz, pos ).add( quat.w.mul( pos ) ) ) ) );
 69 | 
 70 | } ).setLayout( {
 71 |     name: 'rotateByQuat',
 72 |     type: 'vec3',
 73 |     inputs: [
 74 |         { name: 'pos', type: 'vec3' },
 75 |         { name: 'quat', type: 'vec4' }
 76 |     ]
 77 | } );
 78 | 
 79 | export const quat_conj = /*#__PURE__*/ Fn( ( [ q_immutable ] ) => {
 80 | 
 81 |     const q = vec4( q_immutable ).toVar();
 82 | 
 83 |     return normalize( vec4( q.x.negate(), q.y.negate(), q.z.negate(), q.w ) );
 84 | 
 85 | } ).setLayout( {
 86 |     name: 'quat_conj',
 87 |     type: 'vec4',
 88 |     inputs: [
 89 |         { name: 'q', type: 'vec4' }
 90 |     ]
 91 | } );
 92 | 
 93 | export const quat_mult = /*#__PURE__*/ Fn( ( [ q1_immutable, q2_immutable ] ) => {
 94 | 
 95 |     const q2 = vec4( q2_immutable ).toVar();
 96 |     const q1 = vec4( q1_immutable ).toVar();
 97 |     const qr = vec4().toVar();
 98 |     qr.x.assign( q1.w.mul( q2.x ).add( q1.x.mul( q2.w ) ).add( q1.y.mul( q2.z ).sub( q1.z.mul( q2.y ) ) ) );
 99 |     qr.y.assign( q1.w.mul( q2.y ).sub( q1.x.mul( q2.z ) ).add( q1.y.mul( q2.w ) ).add( q1.z.mul( q2.x ) ) );
100 |     qr.z.assign( q1.w.mul( q2.z ).add( q1.x.mul( q2.y ).sub( q1.y.mul( q2.x ) ) ).add( q1.z.mul( q2.w ) ) );
101 |     qr.w.assign( q1.w.mul( q2.w ).sub( q1.x.mul( q2.x ) ).sub( q1.y.mul( q2.y ) ).sub( q1.z.mul( q2.z ) ) );
102 | 
103 |     return qr;
104 | 
105 | } ).setLayout( {
106 |     name: 'quat_mult',
107 |     type: 'vec4',
108 |     inputs: [
109 |         { name: 'q1', type: 'vec4' },
110 |         { name: 'q2', type: 'vec4' }
111 |     ]
112 | } );
113 | 
114 | export const extractRotation = /*#__PURE__*/ Fn( ( [ A_immutable, q_immutable, steps = 3 ] ) => {
115 | 
116 |     const q = vec4( q_immutable ).toVar();
117 |     const A = mat3( A_immutable ).toVar();
118 | 
119 |     Loop( { start: int( 0 ), end: steps, name: 'iter' }, ( { iter } ) => {
120 | 
121 |         const X = vec3( rotateByQuat( vec3( 1.0, 0.0, 0.0 ), q ) ).toVar();
122 |         const Y = vec3( rotateByQuat( vec3( 0.0, 1.0, 0.0 ), q ) ).toVar();
123 |         const Z = vec3( rotateByQuat( vec3( 0.0, 0.0, 1.0 ), q ) ).toVar();
124 |         const omega = vec3( cross( X, A.element( int( 0 ) ) ).add( cross( Y, A.element( int( 1 ) ) ) ).add( cross( Z, A.element( int( 2 ) ) ) ).mul( div( 1.0, abs( dot( X, A.element( int( 0 ) ) ).add( dot( Y, A.element( int( 1 ) ) ) ).add( dot( Z, A.element( int( 2 ) ) ) ).add( 0.000000001 ) ) ) ) ).toVar();
125 |         const w = float( length( omega ) ).toVar();
126 | 
127 |         If( w.lessThan( 0.000000001 ), () => {
128 |             Break();
129 |         } );
130 | 
131 |         q.assign( quat_mult( rotationToQuaternion( omega.div( w ), w ), q ) );
132 | 
133 |     } );
134 | 
135 |     return q;
136 | 
137 | } ).setLayout( {
138 |     name: 'extractRotation',
139 |     type: 'vec4',
140 |     inputs: [
141 |         { name: 'A', type: 'mat3' },
142 |         { name: 'q', type: 'vec4' },
143 |         { name: 'steps', type: 'int' }
144 |     ]
145 | } );
146 | 
147 | 


--------------------------------------------------------------------------------
/src/FEMPhysics/softbodyGeometry.js:
--------------------------------------------------------------------------------
  1 | import * as THREE from "three/webgpu";
  2 | import {
  3 |     attribute,
  4 |     cross,
  5 |     float,
  6 |     Fn,
  7 |     mul,
  8 |     transformNormalToView,
  9 |     varying,
 10 |     vec3,
 11 |     vec4
 12 | } from "three/tsl";
 13 | import {rotateByQuat} from "./math.js";
 14 | import {SoftbodyInstance} from "./softbodyInstance.js";
 15 | 
 16 | export class SoftbodyGeometry {
 17 |     physics = null;
 18 |     model = 0;
 19 |     instances = [];
 20 | 
 21 |     constructor(physics, model, materialClass) {
 22 |         this.physics = physics;
 23 |         this.model = model;
 24 | 
 25 |         this.createMaterial(materialClass);
 26 |     }
 27 | 
 28 |     createGeometry() {
 29 |         const { attachedTets, baryCoords, positions, normals, uvs, indices, tetVerts, tetIds } = this.model;
 30 |         const instanceCount = this.instances.length;
 31 |         if (instanceCount === 0) { return; }
 32 | 
 33 |         const vertexCount = attachedTets.length;
 34 |         const positionArray = new Float32Array(positions);
 35 |         const normalArray = new Float32Array(normals);
 36 |         const uvArray = new Float32Array(uvs);
 37 |         const tetIdArray = new Uint32Array(vertexCount);
 38 |         const vertexIdArray = new Uint32Array(vertexCount * 4);
 39 |         const tetBaryCoordsArray = new Float32Array(baryCoords);
 40 | 
 41 |         const instanceDataArray =  new Uint32Array(instanceCount * 3); // x: objectId, y: tetOffset, z: vertexOffset
 42 | 
 43 |         for (let i=0; i<instanceCount; i++) {
 44 |             const instance = this.instances[i];
 45 |             instanceDataArray[i*3+0] = instance.id;
 46 |             instanceDataArray[i*3+1] = instance.tetOffset;
 47 |             instanceDataArray[i*3+2] = instance.vertexOffset;
 48 | 
 49 |         }
 50 | 
 51 |         for (let i=0; i<vertexCount; i++) {
 52 |             const tetId = attachedTets[i];
 53 |             tetIdArray[i] = tetId;
 54 |             vertexIdArray[i*4+0] = tetIds[tetId * 4 + 0];
 55 |             vertexIdArray[i*4+1] = tetIds[tetId * 4 + 1];
 56 |             vertexIdArray[i*4+2] = tetIds[tetId * 4 + 2];
 57 |             vertexIdArray[i*4+3] = tetIds[tetId * 4 + 3];
 58 |         }
 59 | 
 60 |         const positionBuffer = new THREE.BufferAttribute(positionArray, 3, false);
 61 |         const normalBuffer = new THREE.BufferAttribute(normalArray, 3, false);
 62 |         const uvBuffer = new THREE.BufferAttribute(uvArray, 2, false);
 63 |         const tetIdBuffer = new THREE.BufferAttribute(tetIdArray, 1, false);
 64 |         const vertexIdsBuffer = new THREE.BufferAttribute(vertexIdArray, 4, false);
 65 |         const tetBaryCoordsBuffer = new THREE.BufferAttribute(tetBaryCoordsArray, 3, false);
 66 |         const instanceDataBuffer = new THREE.InstancedBufferAttribute(instanceDataArray, 3, false);
 67 | 
 68 |         const geometry = new THREE.InstancedBufferGeometry();
 69 |         geometry.setAttribute("position", positionBuffer);
 70 |         geometry.setAttribute("normal", normalBuffer);
 71 |         geometry.setAttribute("uv", uvBuffer);
 72 |         geometry.setAttribute("tetId", tetIdBuffer);
 73 |         geometry.setAttribute("vertexIds", vertexIdsBuffer);
 74 |         geometry.setAttribute("tetBaryCoords", tetBaryCoordsBuffer);
 75 |         geometry.setAttribute("instanceData", instanceDataBuffer);
 76 |         geometry.setIndex(indices);
 77 |         geometry.instanceCount = instanceCount;
 78 |         this.geometry = geometry;
 79 | 
 80 |         const object = new THREE.Mesh(geometry, this.material);
 81 |         object.frustumCulled = false;
 82 |         object.castShadow = true;
 83 |         object.receiveShadow = true;
 84 | 
 85 |         this.physics.object.add(object);
 86 |     }
 87 | 
 88 |     updateCount() {
 89 |         if (this.instances.length === 0) { return; }
 90 |         const totalCount = this.physics.objectCount;
 91 |         const count = this.instances.filter(i => i.id < totalCount && i.spawned).length;
 92 |         this.geometry.instanceCount = count;
 93 |     }
 94 | 
 95 |     addInstance() {
 96 |         const instance = new SoftbodyInstance(this.physics, this);
 97 |         this.instances.push(instance);
 98 |         return instance;
 99 |     }
100 | 
101 |     async bake() {
102 |         this.createGeometry();
103 |     }
104 | 
105 |     createMaterial(materialClass) {
106 |         const material = new materialClass();
107 | 
108 |         const vNormal = varying(vec3(0), "v_normalView");
109 |         const vDistance = varying(float(0), "v_distance");
110 |         material.positionNode = Fn(() => {
111 |             const objectId = attribute("instanceData").x;
112 |             const tetOffset = attribute("instanceData").y;
113 |             const vertexOffset = attribute("instanceData").z;
114 | 
115 |             const tetId = attribute("tetId").add(tetOffset);
116 | 
117 |             const vertexIds = attribute("vertexIds").add(vertexOffset).toVar();
118 |             const baryCoords = attribute("tetBaryCoords");
119 |             const v0 = this.physics.vertexBuffer.get(vertexIds.x, "position").xyz.toVar();
120 |             const v1 = this.physics.vertexBuffer.get(vertexIds.y, "position").xyz.toVar();
121 |             const v2 = this.physics.vertexBuffer.get(vertexIds.z, "position").xyz.toVar();
122 |             const v3 = this.physics.vertexBuffer.get(vertexIds.w, "position").xyz.toVar();
123 |             const quat = this.physics.tetBuffer.get(tetId, "quat");
124 | 
125 |             const normal = rotateByQuat(attribute("normal"), quat);
126 |             vNormal.assign(transformNormalToView(normal));
127 |             vDistance.assign(attribute("position").length());
128 | 
129 |             const a = v1.sub(v0).mul(baryCoords.x);
130 |             const b = v2.sub(v0).mul(baryCoords.y);
131 |             const c = v3.sub(v0).mul(baryCoords.z);
132 |             const position = a.add(b).add(c).add(v0).toVar();
133 | 
134 |             /*const positionInitial = attribute("position");
135 |             const scale = this.physics.uniforms.scales.element(objectId).toVar();
136 | 
137 |             position.subAssign(positionInitial.mul(scale.oneMinus()));*/
138 |             return position;
139 |         })();
140 | 
141 |         this.material = material;
142 |     }
143 | 
144 |     dispose() {
145 |         this.geometry.dispose();
146 |         this.material.dispose();
147 |     }
148 | }
149 | 


--------------------------------------------------------------------------------
/src/FEMPhysics/softbodyInstance.js:
--------------------------------------------------------------------------------
 1 | import * as THREE from "three/webgpu";
 2 | 
 3 | export class SoftbodyInstance {
 4 |     physics = null;
 5 |     vertices = [];
 6 |     tets = [];
 7 |     age = 0;
 8 |     spawned = false;
 9 |     outOfSight = false;
10 | 
11 |     constructor(physics, geometry) {
12 |         this.physics = physics;
13 |         this.geometry = geometry;
14 | 
15 |         const params = this.physics._addObject(this);
16 | 
17 |         this.id = params.id;
18 |         this.tetOffset = params.tetStart;
19 |         this.vertexOffset = params.vertexStart;
20 | 
21 |         this.createTetrahedralGeometry();
22 |     }
23 | 
24 |     createTetrahedralGeometry() {
25 |         const { tetVerts, tetIds } = this.geometry.model;
26 |         for (let i=0; i < tetVerts.length; i += 3) {
27 |             const x = tetVerts[i]*3;
28 |             const y = tetVerts[i+1]*3;
29 |             const z = tetVerts[i+2]*3;
30 |             const vertex = this.physics.addVertex(this.id,x,y,z);
31 |             this.vertices.push(vertex);
32 |         }
33 |         for (let i=0; i < tetIds.length; i += 4) {
34 |             const a = this.vertices[tetIds[i]];
35 |             const b = this.vertices[tetIds[i+1]];
36 |             const c = this.vertices[tetIds[i+2]];
37 |             const d = this.vertices[tetIds[i+3]];
38 |             this.tets.push(this.physics.addTet(this.id,a,b,c,d));
39 |         }
40 |     }
41 | 
42 |     async reset(position) {
43 |         const scale = new THREE.Vector3(1,1,1);
44 |         const quaternion = new THREE.Quaternion().random();
45 |         //if (!this.geometry.material.iridescence) { quaternion.random(); }
46 | 
47 |         //const velocity = new THREE.Vector3(0,-0.005,0.03);
48 |         const velocity = new THREE.Vector3(0,0, 0);
49 |         await this.physics.resetObject(this.id, position, quaternion, scale, velocity);
50 |         this.age = 0;
51 |         //this.object.visible = true;
52 |         this.spawned = true;
53 |         this.outOfSight = false;
54 |         this.geometry.updateCount();
55 |     }
56 | 
57 |     async update(interval) {
58 |         this.age += interval;
59 |         const position = this.physics.getPosition(this.id);
60 |         this.outOfSight = (!this.spawned || position.z > 70);
61 |     }
62 | };


--------------------------------------------------------------------------------
/src/FEMPhysics/structuredArray.js:
--------------------------------------------------------------------------------
  1 | import {struct, instancedArray} from "three/tsl";
  2 | 
  3 | const TYPES = {
  4 |     int: { size: 1, alignment: 1, isFloat: false },
  5 |     uint: { size: 1, alignment: 1, isFloat: false },
  6 |     float: { size: 1, alignment: 1, isFloat: true },
  7 | 
  8 |     vec2: { size: 2, alignment: 2, isFloat: true },
  9 |     ivec2: { size: 2, alignment: 2, isFloat: false },
 10 |     uvec2: { size: 2, alignment: 2, isFloat: false },
 11 | 
 12 |     vec3: { size: 3, alignment: 4, isFloat: true },
 13 |     ivec3: { size: 3, alignment: 4, isFloat: false },
 14 |     uvec3: { size: 3, alignment: 4, isFloat: false },
 15 | 
 16 |     vec4: { size: 4, alignment: 4, isFloat: true },
 17 |     ivec4: { size: 4, alignment: 4, isFloat: false },
 18 |     uvec4: { size: 4, alignment: 4, isFloat: false },
 19 | 
 20 |     mat2: { size: 4, alignment: 2, isFloat: true },
 21 |     mat3: { size: 12, alignment: 4, isFloat: true },
 22 |     mat4: { size: 16, alignment: 4, isFloat: true },
 23 | };
 24 | 
 25 | export class StructuredArray {
 26 |     structNode = null;
 27 |     buffer = null;
 28 |     layout = null;
 29 |     structSize = 0;
 30 | 
 31 |     constructor(layout, length, label) {
 32 |         this.layout = this._parse(layout);
 33 |         this.length = length;
 34 |         this.structNode = struct(this.layout);
 35 |         this.floatArray = new Float32Array(this.structSize * this.length);
 36 |         this.intArray = new Int32Array(this.floatArray.buffer);
 37 |         this.buffer = instancedArray(this.floatArray, this.structNode).label(label);
 38 |     }
 39 | 
 40 |     set(index, element, value) {
 41 |         const member = this.layout[element];
 42 |         if (!member) {
 43 |             return console.error("Unknown element '" + element + "'");
 44 |         }
 45 |         const offset = index * this.structSize + member.offset;
 46 |         const array = member.isFloat ? this.floatArray : this.intArray;
 47 | 
 48 |         if (member.size === 1) {
 49 |             if (typeof value !== 'number') {
 50 |                 return console.error("Expected a Number value for element '" + element + "'");
 51 |             }
 52 |             array[offset] = value;
 53 |         }
 54 |         if (member.size > 1) {
 55 |             if (typeof value === 'object' && !Array.isArray(value)) {
 56 |                 const obj = value;
 57 |                 value = [obj.x, obj.y || 0, obj.z || 0, obj.w || 0];
 58 |             }
 59 |             if (!Array.isArray(value) || value.length < member.size) {
 60 |                 return console.error("Expected an array of length " + member.size + " for element '" + element + "'");
 61 |             }
 62 |             for (let i = 0; i < member.size; i++) {
 63 |                 array[offset + i] = value[i];
 64 |             }
 65 |         }
 66 |     }
 67 | 
 68 |     get(index, element) {
 69 |         return this.buffer.element(index).get(element);
 70 |     }
 71 | 
 72 |     _parse(layout) {
 73 |         let offset = 0;
 74 |         const parsedLayout = {};
 75 | 
 76 |         const keys = Object.keys(layout);
 77 |         for (let i = 0; i < keys.length; i++) {
 78 |             const key = keys[i];
 79 |             let member = layout[key];
 80 |             if (typeof member === 'string' || member instanceof String) {
 81 |                 member = { type: member };
 82 |             }
 83 |             const type = member.type;
 84 |             if (!TYPES[type]) {
 85 |                 return console.error("Unknown type '" + type + "'");
 86 |             }
 87 |             const { size, alignment, isFloat } = TYPES[type];
 88 |             member.size = size;
 89 |             member.isFloat = isFloat;
 90 | 
 91 |             const rest = offset % alignment;
 92 |             if (rest !== 0) {
 93 |                 offset += (alignment - rest);
 94 |             }
 95 |             member.offset = offset;
 96 |             offset += size;
 97 | 
 98 |             parsedLayout[key] = member;
 99 |         }
100 | 
101 |         const rest = offset % 4;
102 |         if (rest !== 0) {
103 |             offset += (4 - rest);
104 |         }
105 | 
106 |         this.structSize = offset;
107 |         return parsedLayout;
108 |     }
109 | };


--------------------------------------------------------------------------------
/src/FEMPhysics/tetVisualizer.js:
--------------------------------------------------------------------------------
 1 | import * as THREE from "three/webgpu";
 2 | import {Fn, instancedArray, instanceIndex, attribute} from "three/tsl";
 3 | 
 4 | export class TetVisualizer {
 5 |     physics = null;
 6 |     constructor(physics) {
 7 |         this.physics = physics;
 8 |         this.vertexMaterial = new THREE.SpriteNodeMaterial();
 9 |         this.vertexMaterial.positionNode = Fn(() => {
10 |             return this.physics.vertexBuffer.get(instanceIndex, "position");
11 |         })();
12 |         this.vertexObject = new THREE.Mesh(new THREE.PlaneGeometry(0.01, 0.01), this.vertexMaterial);
13 |         this.vertexObject.count = this.physics.vertexCount;
14 |         this.vertexObject.frustumCulled = false;
15 | 
16 |         const tetPositionBuffer = new THREE.BufferAttribute(new Float32Array(new Array(36).fill(0)), 3, false);
17 |         const tetIndexBuffer = new THREE.BufferAttribute(new Int32Array([0,1,0,2,0,3,1,2,1,3,2,3]), 1, false);
18 | 
19 |         this.tetMaterial = new THREE.LineBasicNodeMaterial({ color: 0x000000 });
20 |         this.tetMaterial.positionNode = Fn( () => {
21 |             const vertices = this.physics.tetBuffer.get(instanceIndex, "vertexIds");
22 |             const tetIndex = attribute('vertexIndex');
23 |             const vertexId = vertices.element(tetIndex);
24 |             return this.physics.vertexBuffer.get(vertexId, "position");
25 |         } )();
26 | 
27 |         const tetGeometry = new THREE.InstancedBufferGeometry();
28 |         tetGeometry.setAttribute("position", tetPositionBuffer);
29 |         tetGeometry.setAttribute("vertexIndex", tetIndexBuffer);
30 |         tetGeometry.instanceCount = this.physics.tetCount;
31 | 
32 |         this.tetObject = new THREE.Line(tetGeometry, this.tetMaterial);
33 |         this.tetObject.frustumCulled = false;
34 | 
35 |         this.object = new THREE.Object3D();
36 |         this.object.add(this.vertexObject);
37 |         this.object.add(this.tetObject);
38 |     }
39 | 
40 |     dispose() {
41 |         this.vertexMaterial.dispose();
42 |         this.vertexObject.geometry.dispose();
43 |         this.tetMaterial.dispose();
44 |         this.tetObject.geometry.dispose();
45 |     }
46 | }


--------------------------------------------------------------------------------
/src/app.js:
--------------------------------------------------------------------------------
  1 | import * as THREE from "three/webgpu";
  2 | import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"
  3 | import { RGBELoader } from 'three/examples/jsm/loaders/RGBELoader.js';
  4 | 
  5 | import {Lights} from "./lights";
  6 | 
  7 | import hdri from "./assets/autumn_field_puresky_1k.hdr";
  8 | 
  9 | import {
 10 |     dot, float,
 11 |     Fn,
 12 |     mix,
 13 |     normalView,
 14 |     normalWorld,
 15 |     pmremTexture,
 16 |     smoothstep, texture, uv, normalMap,
 17 |     varying, vec2,
 18 |     vec3, instanceIndex,
 19 |     mx_hsvtorgb
 20 | } from "three/tsl";
 21 | import {FEMPhysics} from "./FEMPhysics/FEMPhysics";
 22 | import {TetVisualizer} from "./FEMPhysics/tetVisualizer";
 23 | import CollisionGeometry from "./collisionGeometry";
 24 | 
 25 | import virus from './geometry/virus';
 26 | import skull from './geometry/skull3';
 27 | import icosphere from './geometry/icosphere';
 28 | 
 29 | import normalMapFileVirus from './geometry/textures/virus_normal.png';
 30 | import roughnessMapFileVirus from './geometry/textures/virus_roughness.jpg';
 31 | import colorMapFileSkull from './geometry/textures/skullColor.jpg';
 32 | import normalMapFileSkull from './geometry/textures/skullNormal.png';
 33 | import roughnessMapFileSkull from './geometry/textures/skullRoughness.jpg';
 34 | 
 35 | import normalMapFileRope from './geometry/textures/fabrics_0066_normal_opengl_1k.png';
 36 | import roughnessMapFileRope from './geometry/textures/fabrics_0066_roughness_1k.jpg';
 37 | import colorMapFileRope from './geometry/textures/fabrics_0066_color_1k.jpg';
 38 | import aoMapFileRope from './geometry/textures/fabrics_0066_ao_1k.jpg';
 39 | 
 40 | /*import earthColorFile from './geometry/textures/2k_earth_daymap.jpg';
 41 | import earthNormalFile from './geometry/textures/2k_earth_normal_map.png';
 42 | import earthSpecularFile from './geometry/textures/2k_earth_specular_map.png';*/
 43 | 
 44 | import {conf} from "./conf";
 45 | import {Info} from "./info";
 46 | import {generateTube} from "./geometry/loadModel";
 47 | 
 48 | const rope = generateTube(25);
 49 | const longRope = generateTube(500);
 50 | 
 51 | const loadHdr = async (file) => {
 52 |     const texture = await new Promise(resolve => {
 53 |         new RGBELoader().load(file, result => { resolve(result); });
 54 |     });
 55 |     return texture;
 56 | }
 57 | const textureLoader = new THREE.TextureLoader();
 58 | 
 59 | class App {
 60 |     renderer = null;
 61 | 
 62 |     camera = null;
 63 | 
 64 |     scene = null;
 65 | 
 66 |     controls = null;
 67 | 
 68 |     lights = null;
 69 | 
 70 |     stats = null;
 71 | 
 72 |     physics = null;
 73 | 
 74 |     softbodies = [];
 75 | 
 76 |     softbodyCount = 10;
 77 | 
 78 |     lastSoftbody = 0;
 79 | 
 80 |     wireframe = false;
 81 | 
 82 |     lastPositions = [];
 83 | 
 84 |     textures = {
 85 |         ropeNormal: normalMapFileRope,
 86 |         ropeColor: colorMapFileRope,
 87 |         ropeRoughness: roughnessMapFileRope,
 88 |         ropeAo: aoMapFileRope,
 89 |         virusNormal: normalMapFileVirus,
 90 |         virusRoughness: roughnessMapFileVirus,
 91 |         skullColor: colorMapFileSkull,
 92 |         skullRoughness: roughnessMapFileSkull,
 93 |         skullNormal: normalMapFileSkull,
 94 |     };
 95 | 
 96 |     constructor(renderer) {
 97 |         this.renderer = renderer;
 98 |     }
 99 | 
100 |     async init(progressCallback) {
101 |         conf.init();
102 |         this.info = new Info();
103 | 
104 |         const texturePromises = Object.keys(this.textures).map(key => {
105 |             const file = this.textures[key];
106 |             return new Promise(resolve => {
107 |                 textureLoader.load(file, texture => {
108 |                     texture.wrapS = THREE.RepeatWrapping;
109 |                     texture.wrapT = THREE.RepeatWrapping;
110 |                     this.textures[key] = texture;
111 |                     resolve();
112 |                 });
113 |             });
114 |         });
115 |         await Promise.all(texturePromises);
116 |         await progressCallback(0.2)
117 |         this.textures.hdri = await loadHdr(hdri);
118 |         await progressCallback(0.3)
119 | 
120 |         this.sceneName = conf.scene;
121 |         await this.setupScene(progressCallback);
122 | 
123 |         this.raycaster = new THREE.Raycaster();
124 |         this.renderer.domElement.addEventListener("pointerdown", (event) => { this.onPointerDown(event); });
125 | 
126 |         await progressCallback(1.0, 100);
127 |     }
128 | 
129 |     async setupScene(progressCallback) {
130 |         this.softbodyCount = conf.maxBodies;
131 |         this.wireframe = false;
132 | 
133 |         this.camera = new THREE.PerspectiveCamera(60, window.innerWidth / window.innerHeight, 0.01, 120);
134 |         this.camera.position.set(40,0,24);
135 |         this.camera.lookAt(0,0,0);
136 |         this.camera.updateProjectionMatrix()
137 | 
138 |         this.scene = new THREE.Scene();
139 | 
140 |         this.controls = new OrbitControls(this.camera, this.renderer.domElement);
141 |         this.controls.enableDamping = true;
142 |         this.controls.enablePan = false;
143 |         this.controls.minDistance = 20;
144 |         this.controls.maxDistance = 100;
145 |         this.controls.minPolarAngle = 0.2 * Math.PI;
146 |         this.controls.maxPolarAngle = 0.8 * Math.PI;
147 | 
148 |         this.scene.backgroundNode = pmremTexture(this.textures.hdri, normalWorld);
149 |         this.scene.environmentNode = pmremTexture(this.textures.hdri, normalWorld).mul(0.5);
150 | 
151 |         this.renderer.toneMapping = THREE.ACESFilmicToneMapping;
152 |         this.renderer.toneMappingExposure = 0.5;
153 |         this.renderer.shadowMap.enabled = true;
154 |         this.renderer.shadowMap.type = THREE.PCFSoftShadowMap;
155 | 
156 |         this.lights = new Lights();
157 |         this.scene.add(this.lights.object);
158 | 
159 |         this.physics = new FEMPhysics(this.renderer);
160 |         this.scene.add(this.physics.object);
161 | 
162 | 
163 |         const ropeGeometry = this.physics.addGeometry(rope)
164 |         const longRopeGeometry = this.physics.addGeometry(longRope)
165 |         const virusGeometry = this.physics.addGeometry(virus);
166 |         const skullGeometry = this.physics.addGeometry(skull);
167 |         const sphereGeometry = this.physics.addGeometry(icosphere);
168 |         await progressCallback(0.5)
169 | 
170 |         {
171 |             [ropeGeometry, longRopeGeometry].forEach((geometry) => {
172 |                 geometry.material.normalMap = this.textures.ropeNormal;
173 |                 geometry.material.roughnessMap = this.textures.ropeRoughness;
174 |                 geometry.material.aoMap = this.textures.ropeAo;
175 |                 geometry.material.map = this.textures.ropeColor;
176 |                 geometry.material.normalScale = new THREE.Vector2(3,3);
177 |             });
178 |         }
179 |         {
180 |             /*const mapFiles = [earthColorFile, earthNormalFile, earthSpecularFile];
181 |             const [ colorMap, normalMapTexture, specularMap ] = await Promise.all(mapFiles.map(f => loadTexture(f)));
182 |             sphereGeometry.material.normalNode = normalMap(texture(normalMapTexture), vec2(3,3));
183 |             sphereGeometry.material.roughnessNode = texture(specularMap).oneMinus();
184 |             sphereGeometry.material.colorNode = texture(colorMap);*/
185 |             sphereGeometry.material.metalness = 0.39;
186 |             sphereGeometry.material.roughness = 0.45;
187 |             sphereGeometry.material.color = new THREE.Color(0,0.8,1);
188 |         }
189 |         {
190 |             virusGeometry.material.normalMap = this.textures.virusNormal;
191 |             virusGeometry.material.roughnessMap = this.textures.virusRoughness;
192 |             virusGeometry.material.metalness = 0.4;
193 |             virusGeometry.material.iridescence = 1.0;
194 |             virusGeometry.material.color = 0xFFAAFF;
195 |             virusGeometry.material.normalScale = new THREE.Vector2(3,3);
196 | 
197 |             let color, colorHighlight;
198 | 
199 |             if (this.sceneName === "viruses") {
200 |                 color = mx_hsvtorgb(vec3(float(instanceIndex).mul(0.07), 0.99, 0.25 ));
201 |                 colorHighlight = mx_hsvtorgb(vec3(float(instanceIndex).mul(0.07).add(0.1), 0.99, 0.9 ));
202 |             } else {
203 |                 color = vec3(0.25,0,0.25);
204 |                 colorHighlight = vec3(1,0,0.5);
205 |             }
206 | 
207 |             virusGeometry.material.colorNode = color;
208 | 
209 |             const vDistance = varying(float(0), "v_distance");
210 |             virusGeometry.material.emissiveNode = Fn(() => {
211 |                 const dp = dot(vec3(0,0,1), normalView).max(0).pow(4);
212 |                 const of = mix(0.0, 1.0, smoothstep(1.3,1.6, vDistance));
213 |                 return dp.mul(of).mul(colorHighlight);
214 |             })();
215 |         }
216 |         {
217 |             skullGeometry.material.map = this.textures.skullColor;
218 |             skullGeometry.material.normalMap = this.textures.skullNormal;
219 |             skullGeometry.material.roughnessMap = this.textures.skullRoughness;
220 |             skullGeometry.material.metalness = 1.0;
221 |             skullGeometry.material.iridescence = 1.0;
222 |         }
223 |         let geometries = [];
224 |         switch (this.sceneName) {
225 |             case "mixed":
226 |                 geometries = [virusGeometry, skullGeometry, sphereGeometry, ropeGeometry, ropeGeometry, ropeGeometry, ropeGeometry, ropeGeometry, ropeGeometry, ropeGeometry];
227 |                 break;
228 |             case "spheres":
229 |                 geometries = [sphereGeometry];
230 |                 break;
231 |             case "skulls":
232 |                 geometries = [skullGeometry];
233 |                 break;
234 |             case "viruses":
235 |                 geometries = [virusGeometry];
236 |                 break;
237 |             case "ropes":
238 |                 geometries = [ropeGeometry];
239 |                 break;
240 |             case "longropes":
241 |                 geometries = [longRopeGeometry];
242 |                 break;
243 |         }
244 | 
245 |         this.softbodies = [];
246 |         for (let i=0; i<this.softbodyCount; i++) {
247 |             //const geometries = [sphereGeometry];
248 |             const softbody = this.physics.addInstance(geometries[i % geometries.length]); //i % 4 === 0 ? skullGeometry : virusGeometry);
249 |             this.softbodies.push(softbody);
250 |             await progressCallback(0.51 + (0.3 * i / this.softbodyCount));
251 |         }
252 | 
253 |         this.collisionGeometry = new CollisionGeometry(this.physics);
254 |         await this.collisionGeometry.createGeometry();
255 |         this.scene.add(this.collisionGeometry.object);
256 | 
257 |         await this.physics.bake();
258 |         await progressCallback(0.9);
259 | 
260 |         this.tetVisualizer = new TetVisualizer(this.physics);
261 |         this.tetVisualizer.object.visible = false;
262 |         this.scene.add(this.tetVisualizer.object);
263 |     }
264 | 
265 |     clear() {
266 |         this.lights.dispose();
267 |         this.physics.dispose();
268 |         this.tetVisualizer.dispose();
269 |         this.collisionGeometry.dispose();
270 |     }
271 | 
272 |     async onPointerDown(event) {
273 |         const pointer = new THREE.Vector2();
274 |         pointer.x = (event.clientX / window.innerWidth) * 2 - 1;
275 |         pointer.y = -(event.clientY / window.innerHeight) * 2 + 1;
276 |         this.raycaster.setFromCamera(pointer, this.camera);
277 |         await this.physics.onPointerDown(this.camera.position, this.raycaster.ray.direction);
278 |     }
279 | 
280 |     resize(width, height) {
281 |         this.camera.aspect = width / height;
282 |         this.camera.updateProjectionMatrix();
283 |     }
284 | 
285 |     getRandomPositionOnSphere() {
286 |         const radius = 50;
287 |         const phi = Math.random() * Math.PI * 2;
288 |         const theta = Math.random() * Math.PI;
289 |         const x = radius * Math.sin(theta) * Math.cos(phi);
290 |         const y = radius * Math.cos(theta);
291 |         const z = radius * Math.sin(theta) * Math.sin(phi);
292 |         return new THREE.Vector3(x,y,z);
293 |     }
294 | 
295 |     getRandomPosition() {
296 |         let found = false;
297 |         let position = new THREE.Vector3(0,0,0);
298 |         while (!found) {
299 |             position = this.getRandomPositionOnSphere();
300 |             const nearby = this.lastPositions.find(p => {
301 |                 return p.distanceTo(position) < 8;
302 |             })
303 |             if (!nearby) {
304 |                 found = true;
305 |                 this.lastPositions.push(position);
306 |                 if (this.lastPositions.length > 20) {
307 |                     this.lastPositions.shift();
308 |                 }
309 |             }
310 |         }
311 |         return position;
312 |     }
313 | 
314 |     async update(delta, elapsed) {
315 |         conf.begin();
316 | 
317 |         const { wireframe, bodies, scene } = conf;
318 | 
319 |         if (this.sceneName !== scene) {
320 |             this.clear();
321 |             this.sceneName = scene;
322 |             await this.setupScene(() => {});
323 |         }
324 | 
325 |         if (wireframe !== this.wireframe) {
326 |             this.wireframe = wireframe;
327 |             this.physics.object.visible = !wireframe;
328 |             this.tetVisualizer.object.visible = wireframe;
329 |         }
330 | 
331 |         this.controls.update(delta);
332 | 
333 |         this.lastSoftbody += delta;
334 |         if (this.lastSoftbody > 0.15) {
335 |             const nextSoftbody = this.softbodies.find((sb, index) => (index < bodies && sb.outOfSight));
336 |             if (nextSoftbody) {
337 |                 this.lastSoftbody = Math.random() * -0.0;
338 |                 const position = this.getRandomPosition();
339 |                 await nextSoftbody.reset(position);
340 |             }
341 |         }
342 |         this.lights.update(elapsed);
343 |         await this.physics.update(delta, elapsed);
344 | 
345 |         await this.renderer.renderAsync(this.scene, this.camera);
346 | 
347 |         conf.end();
348 |     }
349 | }
350 | export default App;
351 | 


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/src/assets/autumn_field_puresky_1k.hdr:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/assets/autumn_field_puresky_1k.hdr


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/src/assets/rock_0005_ao_1k.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/assets/rock_0005_ao_1k.jpg


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/src/assets/rock_0005_color_1k.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/assets/rock_0005_color_1k.jpg


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/src/assets/rock_0005_normal_opengl_1k.png:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/assets/rock_0005_normal_opengl_1k.png


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/src/assets/rock_0005_roughness_1k.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/assets/rock_0005_roughness_1k.jpg


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/src/collisionGeometry.js:
--------------------------------------------------------------------------------
 1 | import * as THREE from "three/webgpu";
 2 | import {
 3 |     vec3,
 4 |     vec4,
 5 |     Fn, smoothstep, positionView, positionWorld,
 6 | } from "three/tsl";
 7 | 
 8 | class CollisionGeometry {
 9 |     constructor(physics) {
10 |         this.physics = physics;
11 |         this.object = new THREE.Object3D();
12 |     }
13 | 
14 |     async createGeometry() {
15 |         const collider = (positionImmutable) => {
16 |             const position = vec3(positionImmutable).toVar();
17 |             //position.addAssign(vec3(0,-20,10));
18 |             const normal = position.normalize();
19 |             const length = position.length();
20 |             const dist = length.sub(5); //float(25).sub(length).mul(step(100, length).oneMinus());
21 |             return vec4( normal, dist );
22 |         };
23 |         this.physics.addCollider(collider);
24 |         const ball = new THREE.Mesh(new THREE.IcosahedronGeometry(5, 3), new THREE.MeshStandardNodeMaterial(
25 |             {color: new THREE.Color(1,1,1), metalness: 0.1, roughness:0.8}
26 |         ));
27 |         ball.castShadow = true;
28 |         ball.receiveShadow = true;
29 |         this.object.add(ball);
30 |     }
31 | 
32 |     update(delta, elapsed) {
33 | 
34 |     }
35 | 
36 |     dispose() {
37 | 
38 |     }
39 | }
40 | export default CollisionGeometry;
41 | 


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/src/conf.js:
--------------------------------------------------------------------------------
 1 | import {Pane} from 'tweakpane';
 2 | import * as EssentialsPlugin from '@tweakpane/plugin-essentials';
 3 | import mobile from "is-mobile";
 4 | 
 5 | const isMobile = mobile();
 6 | 
 7 | class Conf {
 8 |     gui = null;
 9 | 
10 |     wireframe = false;
11 | 
12 |     stepsPerSecond = 180;
13 | 
14 |     bodies = (isMobile ? 30 : 100);
15 | 
16 |     maxBodies = 300;
17 | 
18 |     scene = 'mixed';
19 | 
20 |     constructor() {
21 | 
22 |     }
23 | 
24 |     init() {
25 |         const gui = new Pane()
26 |         gui.registerPlugin(EssentialsPlugin);
27 | 
28 |         const stats = gui.addFolder({
29 |             title: "stats",
30 |             expanded: false,
31 |         });
32 |         this.fpsGraph = stats.addBlade({
33 |             view: 'fpsgraph',
34 |             label: 'fps',
35 |             rows: 2,
36 |         });
37 | 
38 |         const settings = gui.addFolder({
39 |             title: "settings",
40 |             expanded: false,
41 |         });
42 | 
43 |         const scenes = {
44 |             mixed: { min: 10, max: 300, default: 100, text: "mixed" },
45 |             spheres: { min: 10, max: 200, default: 50, text: "only spheres" },
46 |             skulls: { min: 10, max: 200, default: 50, text: "only skulls" },
47 |             viruses: { min: 10, max: 100, default: 30, text: "only viruses" },
48 |             ropes: { min: 30, max: 500, default: 100, text: "only ropes" },
49 |             longropes: { min: 3, max: 100, default: 10, text: "looooong ropes" },
50 |         };
51 | 
52 |         settings.addBlade({
53 |             view: 'list',
54 |             label: 'scene',
55 |             options: Object.keys(scenes).map(key => ({ ...scenes[key], value: key })),
56 |             value: 'mixed',
57 |         }).on('change', (ev) => {
58 |             const params = scenes[ev.value];
59 |             this.bodies = Math.round(params.default * (isMobile ? 0.3 : 1.0));
60 |             this.maxBodies = params.max;
61 |             this.bodiesBinding.min = params.min;
62 |             this.bodiesBinding.max = params.max;
63 |             this.scene = ev.value;
64 |             gui.refresh();
65 |         });
66 | 
67 |         this.bodiesBinding = settings.addBinding(this, "bodies", { min: 20, max: this.maxBodies, step: 10 });
68 |         settings.addBinding(this, "stepsPerSecond", { min: 120, max: 300, step: 60 });
69 |         //settings.addBinding(this, "wireframe");
70 | 
71 |         this.settings = settings;
72 |         this.gui = gui;
73 |     }
74 | 
75 |     update() {
76 |     }
77 | 
78 |     begin() {
79 |         this.fpsGraph.begin();
80 |     }
81 |     end() {
82 |         this.fpsGraph.end();
83 |     }
84 | }
85 | export const conf = new Conf();


--------------------------------------------------------------------------------
/src/geometry/icosphere.js:
--------------------------------------------------------------------------------
 1 | const model = {
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 9 |     indices: [0,1,2,0,3,1,4,3,0,4,5,3,6,5,4,6,7,5,8,7,6,8,9,7,10,9,8,3,11,1,3,12,11,5,12,3,5,13,12,7,13,5,7,14,13,9,14,7,12,15,11,12,16,15,13,16,12,13,17,16,14,17,13,16,18,15,16,19,18,17,19,16,19,20,18,1,21,2,1,22,21,11,22,1,11,23,22,15,23,11,15,24,23,18,24,15,18,25,24,20,25,18,22,26,21,22,27,26,23,27,22,23,28,27,24,28,23,24,29,28,25,29,24,27,30,26,27,31,30,28,31,27,28,32,31,29,32,28,31,33,30,31,34,33,32,34,31,34,35,33,21,36,2,21,37,36,26,37,21,26,38,37,39,38,26,39,40,38,41,40,39,41,42,40,43,42,41,37,44,36,37,45,44,38,45,37,38,46,45,40,46,38,40,47,46,42,47,40,45,48,44,45,49,48,46,49,45,46,50,49,47,50,46,49,51,48,49,52,51,50,52,49,52,53,51,36,54,2,36,55,54,44,55,36,44,56,55,48,56,44,48,57,56,51,57,48,51,58,57,53,58,51,55,59,54,55,60,59,56,60,55,56,61,60,57,61,56,57,62,61,58,62,57,60,63,59,60,64,63,61,64,60,61,65,64,62,65,61,64,66,63,64,67,66,65,67,64,67,68,66,54,0,2,54,69,0,59,69,54,59,70,69,63,70,59,63,71,70,66,71,63,66,72,71,68,72,66,69,4,0,69,73,4,70,73,69,70,74,73,71,74,70,71,75,74,72,75,71,73,6,4,73,76,6,74,76,73,74,77,76,75,77,74,76,8,6,76,78,8,77,78,76,78,10,8,34,79,35,34,80,79,32,80,34,32,81,80,29,81,32,29,82,81,25,82,29,25,83,82,20,83,25,80,84,79,80,85,84,81,85,80,81,86,85,82,86,81,82,87,86,83,87,82,85,88,84,85,89,88,86,89,85,86,90,89,87,90,86,89,91,88,89,92,91,90,92,89,92,93,91,19,94,20,19,95,94,17,95,19,17,96,95,14,96,17,14,97,96,9,97,14,9,98,97,10,98,9,95,99,94,95,100,99,96,100,95,96,101,100,97,101,96,97,102,101,98,102,97,100,103,99,100,104,103,101,104,100,101,105,104,102,105,101,104,106,103,104,107,106,105,107,104,107,108,106,78,109,10,78,110,109,77,110,78,77,111,110,75,111,77,75,112,111,72,112,75,72,113,112,68,113,72,110,114,109,110,115,114,111,115,110,111,116,115,112,116,111,112,117,116,113,117,112,115,118,114,115,119,118,116,119,115,116,120,119,117,120,116,119,121,118,119,122,121,120,122,119,122,123,121,67,124,68,67,125,124,65,125,67,65,126,125,62,126,65,62,127,126,58,127,62,58,128,127,53,128,58,125,129,124,125,130,129,126,130,125,126,131,130,127,131,126,127,132,131,128,132,127,130,133,129,130,134,133,131,134,130,131,135,134,132,135,131,134,136,133,134,137,136,135,137,134,137,138,136,52,139,53,52,140,139,50,140,52,50,141,140,47,141,50,47,142,141,42,142,47,42,143,142,43,143,42,140,144,139,140,145,144,141,145,140,141,146,145,142,146,141,142,147,146,143,147,142,145,148,144,145,149,148,146,149,145,146,150,149,147,150,146,149,151,148,149,152,151,150,152,149,152,153,151,154,155,156,154,157,155,158,157,154,158,159,157,160,159,158,160,161,159,162,161,160,162,163,161,93,163,162,157,164,155,157,165,164,159,165,157,159,166,165,161,166,159,161,167,166,163,167,161,165,168,164,165,169,168,166,169,165,166,170,169,167,170,166,169,171,168,169,172,171,170,172,169,172,108,171,155,173,156,155,174,173,164,174,155,164,175,174,168,175,164,168,176,175,171,176,168,171,177,176,108,177,171,174,178,173,174,179,178,175,179,174,175,180,179,176,180,175,176,181,180,177,181,176,179,182,178,179,183,182,180,183,179,180,184,183,181,184,180,183,185,182,183,186,185,184,186,183,186,123,185,187,188,189,187,190,188,191,190,187,191,192,190,182,192,191,182,193,192,185,193,182,185,194,193,123,194,185,190,195,188,190,196,195,192,196,190,192,197,196,193,197,192,193,198,197,194,198,193,196,199,195,196,200,199,197,200,196,197,201,200,198,201,197,200,202,199,200,203,202,201,203,200,203,138,202,188,204,189,188,205,204,195,205,188,195,206,205,199,206,195,199,207,206,202,207,199,202,208,207,138,208,202,205,209,204,205,210,209,206,210,205,206,211,210,207,211,206,207,212,211,208,212,207,210,213,209,210,214,213,211,214,210,211,215,214,212,215,211,214,216,213,214,217,216,215,217,214,217,153,216,218,154,156,218,219,154,209,220,204,209,221,220,213,221,209,213,222,221,216,222,213,216,223,222,153,223,216,219,158,154,219,224,158,225,224,219,225,226,224,222,227,221,222,228,227,223,228,222,224,160,158,224,229,160,226,229,224,226,230,229,231,230,226,229,162,160,229,232,162,230,232,229,232,93,162,172,106,108,172,233,106,170,233,172,170,234,233,167,234,170,167,235,234,163,235,167,163,92,235,93,92,163,233,103,106,233,236,103,234,236,233,234,237,236,235,237,234,235,90,237,92,90,235,236,99,103,236,238,99,237,238,236,237,87,238,90,87,237,238,94,99,238,83,94,87,83,238,83,20,94,186,121,123,186,239,121,184,239,186,184,240,239,181,240,184,181,241,240,177,241,181,177,107,241,108,107,177,239,118,121,239,242,118,240,242,239,240,243,242,241,243,240,241,105,243,107,105,241,242,114,118,242,244,114,243,244,242,243,102,244,105,102,243,244,109,114,244,98,109,102,98,244,98,10,109,203,136,138,203,245,136,201,245,203,201,246,245,198,246,201,198,247,246,194,247,198,194,122,247,123,122,194,245,133,136,245,248,133,246,248,245,246,249,248,247,249,246,247,120,249,122,120,247,248,129,133,248,250,129,249,250,248,249,117,250,120,117,249,250,124,129,250,113,124,117,113,250,113,68,124,217,151,153,217,251,151,215,251,217,215,252,251,212,252,215,212,253,252,208,253,212,208,137,253,138,137,208,251,148,151,251,254,148,252,254,251,252,255,254,253,255,252,253,135,255,137,135,253,254,144,148,254,256,144,255,256,254,255,132,256,135,132,255,256,139,144,256,128,139,132,128,256,128,53,139,232,91,93,232,257,91,230,257,232,230,258,257,231,258,230,228,259,260,223,259,228,223,152,259,153,152,223,257,88,91,257,261,88,258,261,257,258,262,261,259,263,260,259,150,263,152,150,259,261,84,88,261,264,84,262,264,261,263,147,265,150,147,263,264,79,84,264,266,79,147,143,265,266,35,79],
10 | };
11 | export default model;


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/src/geometry/loadModel.js:
--------------------------------------------------------------------------------
  1 | import * as THREE from "three/webgpu";
  2 | import * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js';
  3 | import {OBJLoader} from "three/examples/jsm/loaders/OBJLoader";
  4 | 
  5 | const processTetGeometry = (tetVertsRaw, tetIdsRaw) => {
  6 |     let vertices = [];
  7 |     let tets = [];
  8 |     const addVertex = (x,y,z) => {
  9 |         const id = vertices.length;
 10 |         const vertex = new THREE.Vector3(Number(x),Number(y),Number(z));
 11 |         vertex.id = id;
 12 |         vertex.tetCount = 0;
 13 |         vertices.push(vertex);
 14 |     }
 15 | 
 16 |     const addTet = (v0,v1,v2,v3) => {
 17 |         const id = tets.length;
 18 |         const center = v0.clone().add(v1).add(v2).add(v3).divideScalar(4);
 19 |         const tet = {id,v0,v1,v2,v3,center};
 20 |         tets.push(tet);
 21 |     }
 22 | 
 23 | 
 24 |     for (let i=0; i < tetVertsRaw.length; i += 3) {
 25 |         const x = tetVertsRaw[i];
 26 |         const y = tetVertsRaw[i+1];
 27 |         const z = tetVertsRaw[i+2];
 28 |         addVertex(x,y,z);
 29 |     }
 30 | 
 31 |     for (let i=0; i < tetIdsRaw.length; i += 4) {
 32 |         const a = vertices[tetIdsRaw[i]-1];
 33 |         const b = vertices[tetIdsRaw[i+1]-1];
 34 |         const c = vertices[tetIdsRaw[i+2]-1];
 35 |         const d = vertices[tetIdsRaw[i+3]-1];
 36 |         a.tetCount++;
 37 |         b.tetCount++;
 38 |         c.tetCount++;
 39 |         d.tetCount++;
 40 |         addTet(a,b,c,d);
 41 |     }
 42 | 
 43 |     vertices = vertices.filter(v => v.tetCount > 0);
 44 |     vertices.forEach((v, index) => { v.id = index; });
 45 |     const tetVerts = vertices.map(v => [v.x,v.y,v.z]).flat();
 46 |     const tetIds = tets.map(t => [t.v0.id,t.v1.id,t.v2.id,t.v3.id]).flat();
 47 | 
 48 |     return { tetVerts, tetIds, vertices, tets };
 49 | }
 50 | 
 51 | const processMsh = (msh) => {
 52 |     const vertexRegex = /\$Nodes\n\d+\n(.+)\$EndNodes/gms;
 53 |     const vertexMatch = vertexRegex.exec(msh);
 54 |     const vertexRepRegex = /\d+\s(.+)\n/gm;
 55 |     const tetVertsRaw = vertexMatch['1'].replace(vertexRepRegex, '$1 ').trim().split(' ').map(v => Number(v)).map(v => Math.round(v * 10000) / 10000);
 56 | 
 57 |     const tetRegex = /\$Elements\n\d+\n(.+)\$EndElements/gms;
 58 |     const tetMatch = tetRegex.exec(msh);
 59 |     const tetRepRegex = /.+(\s\d+\s\d+\s\d+\s\d+)\s\n/gm;
 60 |     const tetIdsRaw = tetMatch['1'].replace(tetRepRegex, '$1').trim().split(' ').map(v => Number(v));
 61 |     return processTetGeometry(tetVertsRaw, tetIdsRaw);
 62 | }
 63 | 
 64 | const processGeometry = (geometry, tets) => {
 65 |     const positionAttribute = geometry.getAttribute("position");
 66 |     const vertexCount = positionAttribute.count;
 67 |     const positionArray = positionAttribute.array;
 68 |     const normalArray = geometry.getAttribute("normal").array;
 69 |     const uvArray = geometry.getAttribute("uv").array;
 70 |     const indexArray = geometry.index.array;
 71 | 
 72 |     const tetIdArray = new Uint32Array(vertexCount);
 73 |     //const vertexIdArray = new Uint32Array(vertexCount*4);
 74 |     const tetBaryCoordsArray = new Float32Array(vertexCount * 3);
 75 | 
 76 |     const findClosestTet = (vertex) => {
 77 |         let minDist = 1e9;
 78 |         let closestTet = null;
 79 |         for (let i=0; i<tets.length; i++) {
 80 |             const tet = tets[i];
 81 |             const dist = vertex.distanceTo(tet.center);
 82 |             if (dist < minDist) {
 83 |                 minDist = dist;
 84 |                 closestTet = tet;
 85 |             }
 86 |         }
 87 |         return closestTet;
 88 |     }
 89 | 
 90 |     const getMatrixInverse = (tet) => {
 91 |         const { v0,v1,v2,v3 } = tet;
 92 |         const a = v1.clone().sub(v0);
 93 |         const b = v2.clone().sub(v0);
 94 |         const c = v3.clone().sub(v0);
 95 |         const matrix = new THREE.Matrix3(a.x,b.x,c.x,a.y,b.y,c.y,a.z,b.z,c.z);
 96 |         return matrix.clone().invert();
 97 |     }
 98 | 
 99 |     for (let i=0; i<vertexCount; i++) {
100 |         const x = positionArray[i*3+0];
101 |         const y = positionArray[i*3+1];
102 |         const z = positionArray[i*3+2];
103 |         const vertex = new THREE.Vector3(x,y,z);
104 |         const closestTet = findClosestTet(vertex);
105 |         tetIdArray[i] = closestTet.id;
106 |         /*vertexIdArray[i*4+0] = closestTet.v0.id;
107 |         vertexIdArray[i*4+1] = closestTet.v1.id;
108 |         vertexIdArray[i*4+2] = closestTet.v2.id;
109 |         vertexIdArray[i*4+3] = closestTet.v3.id;*/
110 |         const baryCoords = vertex.clone().sub(closestTet.v0).applyMatrix3(getMatrixInverse(closestTet));
111 |         tetBaryCoordsArray[i * 3 + 0] = baryCoords.x;
112 |         tetBaryCoordsArray[i * 3 + 1] = baryCoords.y;
113 |         tetBaryCoordsArray[i * 3 + 2] = baryCoords.z;
114 |     }
115 |     /*const tetIdBuffer = new THREE.BufferAttribute(tetIdArray, 1, false);
116 |     const vertexIdsBuffer = new THREE.BufferAttribute(vertexIdArray, 4, false);
117 |     const tetBaryCoordsBuffer = new THREE.BufferAttribute(tetBaryCoordsArray, 3, false);
118 |     geometry.setAttribute("tetId", tetIdBuffer);
119 |     geometry.setAttribute("vertexIds", vertexIdsBuffer);
120 |     geometry.setAttribute("tetBaryCoords", tetBaryCoordsBuffer);*/
121 |     //obj.children[0].geometry.computeVertexNormals();
122 | 
123 |     const processedModel = {
124 |         attachedTets: [...tetIdArray],
125 |         baryCoords: [...tetBaryCoordsArray].map(v=>Math.round(v*10000)/10000),
126 |         positions: [...positionArray].map(v=>Math.round(v*10000)/10000),
127 |         normals: [...normalArray].map(v=>Math.round(v*10000)/10000),
128 |         uvs: [...uvArray].map(v=>Math.round(v*10000)/10000),
129 |         indices: [...indexArray],
130 |     };
131 |     return processedModel;
132 | };
133 | 
134 | const processObj = (obj, tets) => {
135 |     const objectRaw = new OBJLoader().parse(obj);
136 |     const geometry = BufferGeometryUtils.mergeVertices(objectRaw.children[0].geometry);
137 |     return processGeometry(geometry, tets);
138 | }
139 | 
140 | const print = (model) => {
141 |     let str = "const model = { \n";
142 |     Object.keys(model).forEach((key) => {
143 |         str += " " + key + ": [";
144 |         str += model[key].join(",")
145 |         str += "],\n"
146 |     });
147 |     str += "};\n";
148 |     str += "export default model;"
149 |     console.log(str);
150 | }
151 | 
152 | export const loadModel = (msh, obj) => {
153 |     const { tetVerts, tetIds, vertices, tets } = processMsh(msh);
154 |     const { attachedTets, baryCoords, normals, uvs, positions, indices} = processObj(obj, tets);
155 |     const model = { tetVerts, tetIds, attachedTets, baryCoords, normals, uvs, positions, indices };
156 |     print(model);
157 |     return model;
158 | };
159 | 
160 | export const loadModelWithGeo = (msh, geo) => {
161 |     const { tetVerts, tetIds, vertices, tets } = processMsh(msh);
162 |     const { attachedTets, baryCoords, normals, uvs, positions, indices} = processGeometry(geo, tets);
163 |     const model = { tetVerts, tetIds, attachedTets, baryCoords, normals, uvs, positions, indices };
164 |     print(model);
165 |     return model;
166 | };
167 | 
168 | export const generateTube = (segments) => {
169 |     const radius = 0.125;
170 |     //const segments = 250;
171 |     const capsuleRadius = Math.sqrt(4/Math.PI) * radius;
172 |     const length = radius * segments * 2;
173 | 
174 |     const tetVertsRaw = [];
175 |     const tetIdsRaw = [];
176 | 
177 |     const rr = radius;
178 |     for (let x=0; x<=segments; x++) {
179 |         const px = x * (length/segments) - length * 0.5;
180 |         tetVertsRaw.push(rr, -px, -rr);
181 |         tetVertsRaw.push(rr, -px, rr);
182 |         tetVertsRaw.push(-rr, -px, rr);
183 |         tetVertsRaw.push(-rr, -px, -rr);
184 |     }
185 |     tetVertsRaw.push( 0, (length*0.5 + capsuleRadius), 0);
186 |     const bottomVert = tetVertsRaw.length / 3;
187 |     tetVertsRaw.push( 0, -(length*0.5 + capsuleRadius), 0);
188 |     const topVert = tetVertsRaw.length / 3;
189 | 
190 |     for (let x=0; x<segments; x++) {
191 |         const v = (n) => x*4+n;
192 |         tetIdsRaw.push(v(1), v(4), v(8), v(7));
193 |         tetIdsRaw.push(v(1), v(8), v(5), v(7));
194 |         tetIdsRaw.push(v(1), v(5), v(6), v(7));
195 |         tetIdsRaw.push(v(1), v(6), v(2), v(7));
196 |         tetIdsRaw.push(v(1), v(2), v(3), v(7));
197 |         tetIdsRaw.push(v(1), v(3), v(4), v(7));
198 |     }
199 |     tetIdsRaw.push(bottomVert, 1,2,3);
200 |     tetIdsRaw.push(bottomVert, 1,3,4);
201 |     tetIdsRaw.push(topVert, segments*4+1,segments*4+2,segments*4+3);
202 |     tetIdsRaw.push(topVert, segments*4+1,segments*4+3,segments*4+4);
203 | 
204 |     //const geometry = new THREE.CylinderGeometry( radius, radius, length, 8, segments );
205 |     const geometry = new THREE.CapsuleGeometry(capsuleRadius, length, 4, 8, segments );
206 |     //geometry.rotateZ(Math.PI/2);
207 |     const { tetVerts, tetIds, vertices, tets } = processTetGeometry(tetVertsRaw, tetIdsRaw);
208 |     const { attachedTets, baryCoords, normals, uvs, positions, indices} = processGeometry(geometry, tets);
209 | 
210 |     for (let i=1; i<uvs.length; i += 2) {
211 |         uvs[i] = Math.round(uvs[i]*length*10000)/10000;
212 |     }
213 | 
214 |     const model = { tetVerts, tetIds, attachedTets, baryCoords, normals, uvs, positions, indices };
215 |     //print(model);
216 |     return model;
217 | }


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/src/geometry/textures/fabrics_0066_ao_1k.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/fabrics_0066_ao_1k.jpg


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/src/geometry/textures/fabrics_0066_color_1k.jpg:
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/src/geometry/textures/fabrics_0066_normal_opengl_1k.png:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/fabrics_0066_normal_opengl_1k.png


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/src/geometry/textures/fabrics_0066_roughness_1k.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/fabrics_0066_roughness_1k.jpg


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/src/geometry/textures/skullColor.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/skullColor.jpg


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/src/geometry/textures/skullNormal.png:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/skullNormal.png


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/src/geometry/textures/skullRoughness.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/skullRoughness.jpg


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/src/geometry/textures/virus_normal.png:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/virus_normal.png


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/src/geometry/textures/virus_roughness.jpg:
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https://raw.githubusercontent.com/holtsetio/softbodies/8b3289ac8551a5cbe9f47982305b0867593e4926/src/geometry/textures/virus_roughness.jpg


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/src/info.js:
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 1 | import {Pane} from 'tweakpane';
 2 | import * as InfodumpPlugin from 'tweakpane-plugin-infodump';
 3 | 
 4 | export class Info {
 5 |     constructor() {
 6 |         const container = document.createElement('div');
 7 |         document.body.appendChild(container);
 8 |         container.style.position = 'absolute';
 9 |         container.style.left = '8px';
10 |         container.style.bottom = '8px';
11 |         container.style.maxWidth = '512px';
12 |         container.style.width = 'calc(100% - 16px)';
13 | 
14 |         const pane = new Pane({ container })
15 |         pane.registerPlugin(InfodumpPlugin);
16 |         this.pane = pane;
17 | 
18 |         const info = pane.addFolder({
19 |             title: "info",
20 |             expanded: true,
21 |         });
22 |         info.addBlade({
23 |             view: "infodump",
24 |             content: "Realtime Tetrahedral FEM Models in the Browser, using WebGPU and written in [ThreeJS](https://threejs.org) TSL. Based on the WebGL implementation in [TetSim](https://github.com/zalo/TetSim) by [Johnathon Selstad](https://github.com/zalo), upgraded to enable collisions.\n\n" +
25 |                 "[Skull model](https://sketchfab.com/3d-models/skull-b78e4e6b29b2430293edd9c99d88a64e) by [DJMaesen](https://sketchfab.com/bumstrum). " +
26 |                 "[Virus model](https://sketchfab.com/3d-models/corona-virus-2e7ffcc5d8df41bfa6f7ee666237757c) by [Refref1990](https://sketchfab.com/refref1990). " +
27 |                 "[HDRi background](https://polyhaven.com/a/autumn_field_puresky) by Jarod Guest and Sergej Majboroda on [Polyhaven.com](https://polyhaven.com). " +
28 |                 "[Rope texture](https://www.texturecan.com/details/424/) by [texturecan.com](https://texturecan.com).\n\n" +
29 | 
30 |                 "View the source code [here](https://github.com/holtsetio/softbodies/)!\n\n" +
31 |                 "[> Other experiments](https://holtsetio.com)",
32 |             markdown: true,
33 |         })
34 |     }
35 | }


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/src/lights.js:
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 1 | import * as THREE from "three/webgpu";
 2 | 
 3 | export class Lights {
 4 |     constructor() {
 5 |         this.object = new THREE.Object3D();
 6 |         const light = new THREE.SpotLight(0xffffff, 5, 0, Math.PI * 0.075, 1, 0);
 7 |         const lightTarget = new THREE.Object3D();
 8 |         light.position.set(100, 70, 74);
 9 |         lightTarget.position.set(0,0,0);
10 |         light.target = lightTarget;
11 | 
12 |         this.object.add(light);
13 |         this.object.add(lightTarget);
14 |         //this.object.add(new THREE.SpotLightHelper(light, new THREE.Color(0,0,0)));
15 | 
16 |         light.castShadow = true; // default false
17 |         light.shadow.mapSize.width = 512*2*2; // default
18 |         light.shadow.mapSize.height = 512*2*2; // default
19 |         light.shadow.bias =  -0.000005;
20 |         light.shadow.camera.near = 0.5; // default
21 |         light.shadow.camera.far = 150;
22 | 
23 |         this.light = light;
24 |     }
25 | 
26 |     update(elapsed) {
27 | 
28 |     }
29 | 
30 |     dispose() {
31 |         this.light.shadow.dispose();
32 |     }
33 | }


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/vite.config.js:
--------------------------------------------------------------------------------
 1 | import { defineConfig } from 'vite'
 2 | import tslOperatorPlugin from 'vite-plugin-tsl-operator'
 3 | 
 4 | export default defineConfig({
 5 |     base: './',
 6 |     assetsInclude: ['**/*.hdr'],
 7 |     server: {
 8 |         port: 1234,
 9 |     },
10 |     plugins: [
11 |         tslOperatorPlugin({logs:false})
12 |         //.. other plugins
13 |     ]
14 | });


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