📄 `RapierPhysics.js`¶

📊 Analysis Summary¶

Metric	Count
🔧 Functions	13
📦 Imports	4
📊 Variables & Constants	39
⚡ Async/Await Patterns	1

📚 Table of Contents¶

Imports
Variables & Constants
Async/Await Patterns
Functions

🛠️ File Location:¶

📂 examples/jsm/physics/RapierPhysics.js

📦 Imports¶

Name	Source
`Clock`	`three`
`Vector3`	`three`
`Quaternion`	`three`
`Matrix4`	`three`

Variables & Constants¶

Name	Type	Kind	Value	Exported
`RAPIER_PATH`	`"https://cdn.skypack.dev/@dimforge/ra...`	let/var	`'https://cdn.skypack.dev/@dimforge/rapier3d-compat@0.17.3'`	✗
`frameRate`	`60`	let/var	`60`	✗
`_scale`	`any`	let/var	`new Vector3( 1, 1, 1 )`	✗
`ZERO`	`any`	let/var	`new Vector3()`	✗
`RAPIER`	`any`	let/var	`null`	✗
`parameters`	`any`	let/var	`geometry.parameters`	✗
`sx`	`number`	let/var	`parameters.width !== undefined ? parameters.width / 2 : 0.5`	✗
`sy`	`number`	let/var	`parameters.height !== undefined ? parameters.height / 2 : 0.5`	✗
`sz`	`number`	let/var	`parameters.depth !== undefined ? parameters.depth / 2 : 0.5`	✗
`radius`	`any`	let/var	`parameters.radius !== undefined ? parameters.radius : 0.1`	✗
`sx`	`number`	let/var	`parameters.width !== undefined ? parameters.width / 2 : 0.5`	✗
`sy`	`number`	let/var	`parameters.height !== undefined ? parameters.height / 2 : 0.5`	✗
`sz`	`number`	let/var	`parameters.depth !== undefined ? parameters.depth / 2 : 0.5`	✗
`radius`	`any`	let/var	`parameters.radius !== undefined ? parameters.radius : 1`	✗
`radius`	`any`	let/var	`parameters.radiusBottom !== undefined ? parameters.radiusBottom : 0.5`	✗
`length`	`any`	let/var	`parameters.height !== undefined ? parameters.height : 0.5`	✗
`radius`	`any`	let/var	`parameters.radius !== undefined ? parameters.radius : 0.5`	✗
`length`	`any`	let/var	`parameters.height !== undefined ? parameters.height : 0.5`	✗
`vertices`	`any[]`	let/var	`[]`	✗
`vertex`	`any`	let/var	`new Vector3()`	✗
`indices`	`any`	let/var	`geometry.getIndex() === null ? Uint32Array.from( Array( parseInt( vertices.le...`	✗
`gravity`	`any`	let/var	`new Vector3( 0.0, - 9.81, 0.0 )`	✗
`world`	`any`	let/var	`new RAPIER.World( gravity )`	✗
`meshes`	`any[]`	let/var	`[]`	✗
`meshMap`	`WeakMap<WeakKey, any>`	let/var	`new WeakMap()`	✗
`_vector`	`any`	let/var	`new Vector3()`	✗
`_quaternion`	`any`	let/var	`new Quaternion()`	✗
`_matrix`	`any`	let/var	`new Matrix4()`	✗
`physics`	`any`	let/var	`child.userData.physics`	✗
`body`	`any`	let/var	`mesh.userData.physics.body`	✗
`collider`	`any`	let/var	`mesh.userData.physics.collider`	✗
`array`	`any`	let/var	`mesh.instanceMatrix.array`	✗
`bodies`	`any[]`	let/var	`[]`	✗
`colliders`	`any[]`	let/var	`[]`	✗
`desc`	`any`	let/var	`mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed()`	✗
`clock`	`any`	let/var	`new Clock()`	✗
`mesh`	`any`	let/var	`meshes[ i ]`	✗
`array`	`any`	let/var	`mesh.instanceMatrix.array`	✗
`body`	`any`	let/var	`bodies[ j ]`	✗

Async/Await Patterns¶

Type	Function	Await Expressions	Promise Chains
async-function	`RapierPhysics`	import( `${RAPIER_PATH}` ), RAPIER.init()	none

Functions¶

`getShape(geometry: any): any`¶

Parameters:

geometry any

Returns: any

Calls:

RAPIER.ColliderDesc.roundCuboid
RAPIER.ColliderDesc.cuboid
RAPIER.ColliderDesc.ball
RAPIER.ColliderDesc.cylinder
RAPIER.ColliderDesc.capsule
geometry.getAttribute
vertex.fromBufferAttribute
vertices.push
geometry.getIndex
Uint32Array.from
Array( parseInt( vertices.length / 3 ) ).keys
RAPIER.ColliderDesc.trimesh

Internal Comments:

// TODO change type to is*
// if the buffer is non-indexed, generate an index buffer (x2)

Code

function getShape( geometry ) {

    const parameters = geometry.parameters;

    // TODO change type to is*

    if ( geometry.type === 'RoundedBoxGeometry' ) {

        const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
        const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
        const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
        const radius = parameters.radius !== undefined ? parameters.radius : 0.1;

        return RAPIER.ColliderDesc.roundCuboid( sx - radius, sy - radius, sz - radius, radius );

    } else if ( geometry.type === 'BoxGeometry' ) {

        const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
        const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
        const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;

        return RAPIER.ColliderDesc.cuboid( sx, sy, sz );

    } else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {

        const radius = parameters.radius !== undefined ? parameters.radius : 1;
        return RAPIER.ColliderDesc.ball( radius );

    } else if ( geometry.type === 'CylinderGeometry' ) {

        const radius = parameters.radiusBottom !== undefined ? parameters.radiusBottom : 0.5;
        const length = parameters.height !== undefined ? parameters.height : 0.5;

        return RAPIER.ColliderDesc.cylinder( length / 2, radius );

    } else if ( geometry.type === 'CapsuleGeometry' ) {

        const radius = parameters.radius !== undefined ? parameters.radius : 0.5;
        const length = parameters.height !== undefined ? parameters.height : 0.5;

        return RAPIER.ColliderDesc.capsule( length / 2, radius );

    } else if ( geometry.type === 'BufferGeometry' ) {

        const vertices = [];
        const vertex = new Vector3();
        const position = geometry.getAttribute( 'position' );

        for ( let i = 0; i < position.count; i ++ ) {

            vertex.fromBufferAttribute( position, i );
            vertices.push( vertex.x, vertex.y, vertex.z );

        }

        // if the buffer is non-indexed, generate an index buffer
        const indices = geometry.getIndex() === null
            ? Uint32Array.from( Array( parseInt( vertices.length / 3 ) ).keys() )
            : geometry.getIndex().array;

        return RAPIER.ColliderDesc.trimesh( vertices, indices );

    }

    return null;

}

`RapierPhysics(): Promise<{ RAPIER: any; world: any; addScene: (scene: any) => void; addMesh: (mesh: any, mass?: number, restitution?: number) => void; removeMesh: (mesh: any) => void; setMeshPosition: (mesh: any, position: any, index?: number) => void; setMeshVelocity: (mesh: any, velocity: any, index?: number) => void; addHeightfie...`¶

JSDoc:

/**
 * @classdesc Can be used to include Rapier as a Physics engine into
 * `three.js` apps. The API can be initialized via:
 * ```js
 * const physics = await RapierPhysics();
 * ```
 * The component automatically imports Rapier from a CDN so make sure
 * to use the component with an active Internet connection.
 *
 * @name RapierPhysics
 * @class
 * @hideconstructor
 * @three_import import { RapierPhysics } from 'three/addons/physics/RapierPhysics.js';
 */

Returns: Promise<{ RAPIER: any; world: any; addScene: (scene: any) => void; addMesh: (mesh: any, mass?: number, restitution?: number) => void; removeMesh: (mesh: any) => void; setMeshPosition: (mesh: any, position: any, index?: number) => void; setMeshVelocity: (mesh: any, velocity: any, index?: number) => void; addHeightfie...

Calls:

complex_call_3044
RAPIER.init
scene.traverse
addMesh
getShape
shape.setMass
shape.setRestitution
createInstancedBody
createBody
meshes.push
meshMap.set
meshes.indexOf
meshes.splice
meshMap.delete
removeBody
removeCollider
_vector.fromArray
bodies.push
colliders.push
RAPIER.RigidBodyDesc.dynamic
RAPIER.RigidBodyDesc.fixed
desc.setTranslation
desc.setRotation
world.createRigidBody
world.createCollider
Array.isArray
world.removeRigidBody
world.removeCollider
meshMap.get
body.setAngvel
body.setLinvel
body.setTranslation
RAPIER.ColliderDesc.heightfield
bodyDesc.setTranslation
bodyDesc.setRotation
clock.getDelta
world.step
body.translation
_quaternion.copy
body.rotation
_matrix.compose( position, _quaternion, _scale ).toArray
mesh.computeBoundingSphere
mesh.position.copy
mesh.quaternion.copy
setInterval

Internal Comments:

// // /**

name="__codelineno-3-1" href="#__codelineno-3-1">// Docs: https://rapier.rs/docs/api/javascript/JavaScript3D/ (x2) (x3) animate (x3) * Adds the given scene to this physics simulation. Only meshes with a * `physics` object in their {@link Object3D#userData} field will be honored. * The object can be used to store the mass and restitution of the mesh. E.g.: * ```js * box.userData.physics = { mass: 1, restitution: 0 }; * ``` * * @method * @name RapierPhysics#addScene * @param {Object3D} scene The scene or any type of 3D object to add. */ (x2) /** * Adds the given mesh to this physics simulation. * * @method * @name RapierPhysics#addMesh * @param {Mesh} mesh The mesh to add. * @param {number} [mass=0] The mass in kg of the mesh. * @param {number} [restitution=0] The restitution/friction of the mesh. */ (x2) /** * Removes the given mesh from this physics simulation. * * @method * @name RapierPhysics#removeMesh * @param {Mesh} mesh The mesh to remove. */ (x2) /** * Set the position of the given mesh which is part of the physics simulation. Calling this * method will reset the current simulated velocity of the mesh. * * @method * @name RapierPhysics#setMeshPosition * @param {Mesh} mesh The mesh to update the position for. * @param {Vector3} position - The new position. * @param {number} [index=0] - If the mesh is instanced, the index represents the instanced ID. */ (x2) /** * Set the velocity of the given mesh which is part of the physics simulation. * * @method * @name RapierPhysics#setMeshVelocity * @param {Mesh} mesh The mesh to update the velocity for. * @param {Vector3} velocity - The new velocity. * @param {number} [index=0] - If the mesh is instanced, the index represents the instanced ID. */ (x2) /** * Adds a heightfield terrain to the physics simulation. * * @method * @name RapierPhysics#addHeightfield * @param {Mesh} mesh - The Three.js mesh representing the terrain. * @param {number} width - The number of vertices along the width (x-axis) of the heightfield. * @param {number} depth - The number of vertices along the depth (z-axis) of the heightfield. * @param {Float32Array} heights - Array of height values for each vertex in the heightfield. * @param {Object} scale - Scale factors for the heightfield dimensions. * @param {number} scale.x - Scale factor for width. * @param {number} scale.y - Scale factor for height. * @param {number} scale.z - Scale factor for depth. * @returns {RigidBody} The created Rapier rigid body for the heightfield. */ (x2)

Code

async function RapierPhysics() {

    if ( RAPIER === null ) {

        RAPIER = await import( `${RAPIER_PATH}` );
        await RAPIER.init();

    }

    // Docs: https://rapier.rs/docs/api/javascript/JavaScript3D/

    const gravity = new Vector3( 0.0, - 9.81, 0.0 );
    const world = new RAPIER.World( gravity );

    const meshes = [];
    const meshMap = new WeakMap();

    const _vector = new Vector3();
    const _quaternion = new Quaternion();
    const _matrix = new Matrix4();

    function addScene( scene ) {

        scene.traverse( function ( child ) {

            if ( child.isMesh ) {

                const physics = child.userData.physics;

                if ( physics ) {

                    addMesh( child, physics.mass, physics.restitution );

                }

            }

        } );

    }

    function addMesh( mesh, mass = 0, restitution = 0 ) {

        const shape = getShape( mesh.geometry );

        if ( shape === null ) return;

        shape.setMass( mass );
        shape.setRestitution( restitution );

        const { body, collider } = mesh.isInstancedMesh
            ? createInstancedBody( mesh, mass, shape )
            : createBody( mesh.position, mesh.quaternion, mass, shape );

        if ( ! mesh.userData.physics ) mesh.userData.physics = {};

        mesh.userData.physics.body = body;
        mesh.userData.physics.collider = collider;

        if ( mass > 0 ) {

            meshes.push( mesh );
            meshMap.set( mesh, { body, collider } );

        }

    }

    function removeMesh( mesh ) {

        const index = meshes.indexOf( mesh );

        if ( index !== - 1 ) {

            meshes.splice( index, 1 );
            meshMap.delete( mesh );

            if ( ! mesh.userData.physics ) return;

            const body = mesh.userData.physics.body;
            const collider = mesh.userData.physics.collider;

            if ( body ) removeBody( body );
            if ( collider ) removeCollider( collider );

        }

    }

    function createInstancedBody( mesh, mass, shape ) {

        const array = mesh.instanceMatrix.array;

        const bodies = [];
        const colliders = [];

        for ( let i = 0; i < mesh.count; i ++ ) {

            const position = _vector.fromArray( array, i * 16 + 12 );
            const { body, collider } = createBody( position, null, mass, shape );
            bodies.push( body );
            colliders.push( collider );

        }

        return { body: bodies, collider: colliders };

    }

    function createBody( position, quaternion, mass, shape ) {

        const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
        desc.setTranslation( ...position );
        if ( quaternion !== null ) desc.setRotation( quaternion );

        const body = world.createRigidBody( desc );
        const collider = world.createCollider( shape, body );

        return { body, collider };

    }

    function removeBody( body ) {

        if ( Array.isArray( body ) ) {

            for ( let i = 0; i < body.length; i ++ ) {

                world.removeRigidBody( body[ i ] );

            }

        } else {

            world.removeRigidBody( body );

        }

    }

    function removeCollider( collider ) {

        if ( Array.isArray( collider ) ) {

            for ( let i = 0; i < collider.length; i ++ ) {

                world.removeCollider( collider[ i ] );

            }

        } else {

            world.removeCollider( collider );

        }

    }

    function setMeshPosition( mesh, position, index = 0 ) {

        let { body } = meshMap.get( mesh );

        if ( mesh.isInstancedMesh ) {

            body = body[ index ];

        }

        body.setAngvel( ZERO );
        body.setLinvel( ZERO );
        body.setTranslation( position );

    }

    function setMeshVelocity( mesh, velocity, index = 0 ) {

        let { body } = meshMap.get( mesh );

        if ( mesh.isInstancedMesh ) {

            body = body[ index ];

        }

        body.setLinvel( velocity );

    }

    function addHeightfield( mesh, width, depth, heights, scale ) {

        const shape = RAPIER.ColliderDesc.heightfield( width, depth, heights, scale );

        const bodyDesc = RAPIER.RigidBodyDesc.fixed();
        bodyDesc.setTranslation( mesh.position.x, mesh.position.y, mesh.position.z );
        bodyDesc.setRotation( mesh.quaternion );

        const body = world.createRigidBody( bodyDesc );
        world.createCollider( shape, body );

        if ( ! mesh.userData.physics ) mesh.userData.physics = {};
        mesh.userData.physics.body = body;

        return body;

    }

    //

    const clock = new Clock();

    function step() {

        world.timestep = clock.getDelta();
        world.step();

        //

        for ( let i = 0, l = meshes.length; i < l; i ++ ) {

            const mesh = meshes[ i ];

            if ( mesh.isInstancedMesh ) {

                const array = mesh.instanceMatrix.array;
                const { body: bodies } = meshMap.get( mesh );

                for ( let j = 0; j < bodies.length; j ++ ) {

                    const body = bodies[ j ];

                    const position = body.translation();
                    _quaternion.copy( body.rotation() );

                    _matrix.compose( position, _quaternion, _scale ).toArray( array, j * 16 );

                }

                mesh.instanceMatrix.needsUpdate = true;
                mesh.computeBoundingSphere();

            } else {

                const { body } = meshMap.get( mesh );

                mesh.position.copy( body.translation() );
                mesh.quaternion.copy( body.rotation() );

            }

        }

    }

    // animate

    setInterval( step, 1000 / frameRate );

    return {
        RAPIER,
        world,
        /**
         * Adds the given scene to this physics simulation. Only meshes with a
         * `physics` object in their {@link Object3D#userData} field will be honored.
         * The object can be used to store the mass and restitution of the mesh. E.g.:
         * ```js
         * box.userData.physics = { mass: 1, restitution: 0 };
         * ```
         *
         * @method
         * @name RapierPhysics#addScene
         * @param {Object3D} scene The scene or any type of 3D object to add.
         */
        addScene: addScene,

        /**
         * Adds the given mesh to this physics simulation.
         *
         * @method
         * @name RapierPhysics#addMesh
         * @param {Mesh} mesh The mesh to add.
         * @param {number} [mass=0] The mass in kg of the mesh.
         * @param {number} [restitution=0] The restitution/friction of the mesh.
         */
        addMesh: addMesh,

        /**
         * Removes the given mesh from this physics simulation.
         *
         * @method
         * @name RapierPhysics#removeMesh
         * @param {Mesh} mesh The mesh to remove.
         */
        removeMesh: removeMesh,

        /**
         * Set the position of the given mesh which is part of the physics simulation. Calling this
         * method will reset the current simulated velocity of the mesh.
         *
         * @method
         * @name RapierPhysics#setMeshPosition
         * @param {Mesh} mesh The mesh to update the position for.
         * @param {Vector3} position - The new position.
         * @param {number} [index=0] - If the mesh is instanced, the index represents the instanced ID.
         */
        setMeshPosition: setMeshPosition,

        /**
         * Set the velocity of the given mesh which is part of the physics simulation.
         *
         * @method
         * @name RapierPhysics#setMeshVelocity
         * @param {Mesh} mesh The mesh to update the velocity for.
         * @param {Vector3} velocity - The new velocity.
         * @param {number} [index=0] - If the mesh is instanced, the index represents the instanced ID.
         */
        setMeshVelocity: setMeshVelocity,

        /**
         * Adds a heightfield terrain to the physics simulation.
         * 
         * @method
         * @name RapierPhysics#addHeightfield
         * @param {Mesh} mesh - The Three.js mesh representing the terrain.
         * @param {number} width - The number of vertices along the width (x-axis) of the heightfield.
         * @param {number} depth - The number of vertices along the depth (z-axis) of the heightfield.
         * @param {Float32Array} heights - Array of height values for each vertex in the heightfield.
         * @param {Object} scale - Scale factors for the heightfield dimensions.
         * @param {number} scale.x - Scale factor for width.
         * @param {number} scale.y - Scale factor for height.
         * @param {number} scale.z - Scale factor for depth.
         * @returns {RigidBody} The created Rapier rigid body for the heightfield.
         */
        addHeightfield: addHeightfield

    };

}

`addScene(scene: any): void`¶

Parameters:

scene any

Returns: void

Calls:

scene.traverse
addMesh

Code

function addScene( scene ) {

        scene.traverse( function ( child ) {

            if ( child.isMesh ) {

                const physics = child.userData.physics;

                if ( physics ) {

                    addMesh( child, physics.mass, physics.restitution );

                }

            }

        } );

    }

`addMesh(mesh: any, mass: number, restitution: number): void`¶

Parameters:

mesh any
mass number
restitution number

Returns: void

Calls:

getShape
shape.setMass
shape.setRestitution
createInstancedBody
createBody
meshes.push
meshMap.set

Code

function addMesh( mesh, mass = 0, restitution = 0 ) {

        const shape = getShape( mesh.geometry );

        if ( shape === null ) return;

        shape.setMass( mass );
        shape.setRestitution( restitution );

        const { body, collider } = mesh.isInstancedMesh
            ? createInstancedBody( mesh, mass, shape )
            : createBody( mesh.position, mesh.quaternion, mass, shape );

        if ( ! mesh.userData.physics ) mesh.userData.physics = {};

        mesh.userData.physics.body = body;
        mesh.userData.physics.collider = collider;

        if ( mass > 0 ) {

            meshes.push( mesh );
            meshMap.set( mesh, { body, collider } );

        }

    }

`removeMesh(mesh: any): void`¶

Parameters:

mesh any

Returns: void

Calls:

meshes.indexOf
meshes.splice
meshMap.delete
removeBody
removeCollider

Code

function removeMesh( mesh ) {

        const index = meshes.indexOf( mesh );

        if ( index !== - 1 ) {

            meshes.splice( index, 1 );
            meshMap.delete( mesh );

            if ( ! mesh.userData.physics ) return;

            const body = mesh.userData.physics.body;
            const collider = mesh.userData.physics.collider;

            if ( body ) removeBody( body );
            if ( collider ) removeCollider( collider );

        }

    }

`createInstancedBody(mesh: any, mass: any, shape: any): { body: any[]; collider: any[]; }`¶

Parameters:

mesh any
mass any
shape any

Returns: { body: any[]; collider: any[]; }

Calls:

_vector.fromArray
createBody
bodies.push
colliders.push

Code

function createInstancedBody( mesh, mass, shape ) {

        const array = mesh.instanceMatrix.array;

        const bodies = [];
        const colliders = [];

        for ( let i = 0; i < mesh.count; i ++ ) {

            const position = _vector.fromArray( array, i * 16 + 12 );
            const { body, collider } = createBody( position, null, mass, shape );
            bodies.push( body );
            colliders.push( collider );

        }

        return { body: bodies, collider: colliders };

    }

`createBody(position: any, quaternion: any, mass: any, shape: any): { body: any; collider: any; }`¶

Parameters:

position any
quaternion any
mass any
shape any

Returns: { body: any; collider: any; }

Calls:

RAPIER.RigidBodyDesc.dynamic
RAPIER.RigidBodyDesc.fixed
desc.setTranslation
desc.setRotation
world.createRigidBody
world.createCollider

Code

function createBody( position, quaternion, mass, shape ) {

        const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
        desc.setTranslation( ...position );
        if ( quaternion !== null ) desc.setRotation( quaternion );

        const body = world.createRigidBody( desc );
        const collider = world.createCollider( shape, body );

        return { body, collider };

    }

`removeBody(body: any): void`¶

Parameters:

body any

Returns: void

Calls:

Array.isArray
world.removeRigidBody

Code

function removeBody( body ) {

        if ( Array.isArray( body ) ) {

            for ( let i = 0; i < body.length; i ++ ) {

                world.removeRigidBody( body[ i ] );

            }

        } else {

            world.removeRigidBody( body );

        }

    }

`removeCollider(collider: any): void`¶

Parameters:

collider any

Returns: void

Calls:

Array.isArray
world.removeCollider

Code

function removeCollider( collider ) {

        if ( Array.isArray( collider ) ) {

            for ( let i = 0; i < collider.length; i ++ ) {

                world.removeCollider( collider[ i ] );

            }

        } else {

            world.removeCollider( collider );

        }

    }

`setMeshPosition(mesh: any, position: any, index: number): void`¶

Parameters:

mesh any
position any
index number

Returns: void

Calls:

meshMap.get
body.setAngvel
body.setLinvel
body.setTranslation

Code

function setMeshPosition( mesh, position, index = 0 ) {

        let { body } = meshMap.get( mesh );

        if ( mesh.isInstancedMesh ) {

            body = body[ index ];

        }

        body.setAngvel( ZERO );
        body.setLinvel( ZERO );
        body.setTranslation( position );

    }

`setMeshVelocity(mesh: any, velocity: any, index: number): void`¶

Parameters:

mesh any
velocity any
index number

Returns: void

Calls:

meshMap.get
body.setLinvel

Code

function setMeshVelocity( mesh, velocity, index = 0 ) {

        let { body } = meshMap.get( mesh );

        if ( mesh.isInstancedMesh ) {

            body = body[ index ];

        }

        body.setLinvel( velocity );

    }

`addHeightfield(mesh: any, width: any, depth: any, heights: any, scale: any): any`¶

Parameters:

mesh any
width any
depth any
heights any
scale any

Returns: any

Calls:

RAPIER.ColliderDesc.heightfield
RAPIER.RigidBodyDesc.fixed
bodyDesc.setTranslation
bodyDesc.setRotation
world.createRigidBody
world.createCollider

Code

function addHeightfield( mesh, width, depth, heights, scale ) {

        const shape = RAPIER.ColliderDesc.heightfield( width, depth, heights, scale );

        const bodyDesc = RAPIER.RigidBodyDesc.fixed();
        bodyDesc.setTranslation( mesh.position.x, mesh.position.y, mesh.position.z );
        bodyDesc.setRotation( mesh.quaternion );

        const body = world.createRigidBody( bodyDesc );
        world.createCollider( shape, body );

        if ( ! mesh.userData.physics ) mesh.userData.physics = {};
        mesh.userData.physics.body = body;

        return body;

    }

`step(): void`¶

Returns: void

Calls:

clock.getDelta
world.step
meshMap.get
body.translation
_quaternion.copy
body.rotation
_matrix.compose( position, _quaternion, _scale ).toArray
mesh.computeBoundingSphere
mesh.position.copy
mesh.quaternion.copy

Internal Comments:

//

Code

function step() {

        world.timestep = clock.getDelta();
        world.step();

        //

        for ( let i = 0, l = meshes.length; i < l; i ++ ) {

            const mesh = meshes[ i ];

            if ( mesh.isInstancedMesh ) {

                const array = mesh.instanceMatrix.array;
                const { body: bodies } = meshMap.get( mesh );

                for ( let j = 0; j < bodies.length; j ++ ) {

                    const body = bodies[ j ];

                    const position = body.translation();
                    _quaternion.copy( body.rotation() );

                    _matrix.compose( position, _quaternion, _scale ).toArray( array, j * 16 );

                }

                mesh.instanceMatrix.needsUpdate = true;
                mesh.computeBoundingSphere();

            } else {

                const { body } = meshMap.get( mesh );

                mesh.position.copy( body.translation() );
                mesh.quaternion.copy( body.rotation() );

            }

        }

    }

📄 RapierPhysics.js¶

📊 Analysis Summary¶

📚 Table of Contents¶

🛠️ File Location:¶

📦 Imports¶

Variables & Constants¶

Async/Await Patterns¶

Functions¶

getShape(geometry: any): any¶

addScene(scene: any): void¶

addMesh(mesh: any, mass: number, restitution: number): void¶

removeMesh(mesh: any): void¶

createInstancedBody(mesh: any, mass: any, shape: any): { body: any[]; collider: any[]; }¶

createBody(position: any, quaternion: any, mass: any, shape: any): { body: any; collider: any; }¶

removeBody(body: any): void¶

removeCollider(collider: any): void¶

setMeshPosition(mesh: any, position: any, index: number): void¶

setMeshVelocity(mesh: any, velocity: any, index: number): void¶

addHeightfield(mesh: any, width: any, depth: any, heights: any, scale: any): any¶

step(): void¶

📄 `RapierPhysics.js`¶

`getShape(geometry: any): any`¶

`addScene(scene: any): void`¶

`addMesh(mesh: any, mass: number, restitution: number): void`¶

`removeMesh(mesh: any): void`¶

`createInstancedBody(mesh: any, mass: any, shape: any): { body: any[]; collider: any[]; }`¶

`createBody(position: any, quaternion: any, mass: any, shape: any): { body: any; collider: any; }`¶

`removeBody(body: any): void`¶

`removeCollider(collider: any): void`¶

`setMeshPosition(mesh: any, position: any, index: number): void`¶

`setMeshVelocity(mesh: any, velocity: any, index: number): void`¶

`addHeightfield(mesh: any, width: any, depth: any, heights: any, scale: any): any`¶

`step(): void`¶