Having to Pass Ammo as an arguament to function

BatterySmooth · June 12, 2022, 9:07pm

I’m introducing myself to Three.js and Ammo.js and I’m having some issues writing functions.
So, I’m sure I’m doing something novice here, but I’m at a bit of a loss.

When I’m calling Ammo constructors within functions, I’m having to pass Ammo as an arguament to the function - is this expected behaviour?

If I don’t include it, I get an error stating that “X is not a valid constructor”

Any pointers are greatly appreciated!

I’m only working in the main.js file as below:

// Style import
import './style.css'
// THREE import
import * as THREE from 'three';
import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
// AMMO import
import Ammo from './js/ammo'

// Globals
var physicsWorld        = undefined;
var clock               = new THREE.Clock();
var scene               = undefined;
var camera              = undefined;
var renderer            = undefined;
var rigidBodyList       = new Array();
var tmpTransformation   = undefined;

// ====================== FUNCTIONS =======================

function QuaternionFromAxis(Ammo, x, y, z, a) {
  // Calculate sin(theta/2)
  let factor = Math.sin(a/2.0);
  // Calculate x, y and z of quaternion
  let Qx = x*factor;
  let Qy = y*factor;
  let Qz = z*factor;
  let Qw = Math.cos(a/2.0);

  let quaternion = new Ammo.btQuaternion(Qx, Qy, Qz, Qw);
  return quaternion
}

function randomColour() {
  let colour = Math.floor(Math.random()*(255 + 1)) * 0xffffff;
  return colour
}

// ======================= THREE.JS =======================

function setupGraphicsWorld() {
  // Clock setup
  clock     = new THREE.Clock();

  // Scene setup
  scene     = new THREE.Scene();

  // Camera setup
  camera    = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 1, 1000 );
  let CameraPosition = 30;
  camera.position.set(CameraPosition, CameraPosition/2, CameraPosition);
  camera.lookAt(new THREE.Vector3(0, 0, 0));

  // Renderer setup
  renderer = new THREE.WebGLRenderer({
    canvas:     document.querySelector('#bg'),
    antialias:  true,
    alpha:      true
  });
  renderer.setPixelRatio(window.devicePixelRatio);
  renderer.setSize(window.innerWidth, window.innerHeight);
  // Set background colour
  renderer.setClearColor( 0xFEE8FF, 1);
  // Set tone mapping (HDR)
  renderer.toneMapping = THREE.ACESFilmicToneMapping;
  renderer.toneMappingExposure = 1;

  // Orbit controls setup
  const controls = new OrbitControls(camera, renderer.domElement);
  controls.update();

  // Grid Helper setup
  const gridHelper = new THREE.GridHelper(20, 50);
  scene.add(gridHelper);

  // Ambient Light setup
  const light = new THREE.AmbientLight(0x404040, 0.2);                    // Soft white light
  scene.add(light);

  // Directional light setup
  const directionalLight = new THREE.DirectionalLight(0xffffff, 0.6);
  directionalLight.position.set(1, 0.9, 0.4);
  scene.add(directionalLight);

  // Point Light
  const spotlight = new THREE.PointLight(0x404040, 1);                    // Declare spotlight
  spotlight.position.set(10, 10, -10);                                        // Set spotlight position
  const spotlightHelper = new THREE.PointLightHelper(spotlight);          // Declare spotlight helper
  scene.add(spotlight, spotlightHelper);                                  // Add spotlight and helper to scene
}

// ======================= AMMO.JS ========================

function setupPhysicsWorld(Ammo, g) {
  let collisionConfiguration  = new Ammo.btDefaultCollisionConfiguration();
  let dispatcher              = new Ammo.btCollisionDispatcher(collisionConfiguration);
  let overlappingPairCache    = new Ammo.btDbvtBroadphase();
  let solver                  = new Ammo.btSequentialImpulseConstraintSolver();

  physicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
  physicsWorld.setGravity(new Ammo.btVector3(0, g, 0));
}

// ======================== OBJECTS ========================

function createCube(Ammo, scale, position, mass, rot_quaternion, colour) {
  let quaternion = undefined;
  if(rot_quaternion == null) {quaternion = {x:0, y:0, z:0, w:1}}
  else {quaternion = rot_quaternion}
  // ------ Graphics World - Three.JS ------
  let newcube = 
    new THREE.Mesh(new THREE.BoxBufferGeometry(scale.x, scale.y, scale.z),
    new THREE.MeshPhongMaterial({color: colour}));
  newcube.position.set(position.x, position.y, position.z);
  scene.add(newcube);
  // ------ Physics World - Ammo.js ------
  let transform = new Ammo.btTransform();
  transform.setIdentity();
  transform.setOrigin(new Ammo.btVector3(position.x, position.y, position.z));
  transform.setRotation(new Ammo.btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
  let defaultMotionState = new Ammo.btDefaultMotionState(transform);

  let structColShape = new Ammo.btBoxShape(new Ammo.btVector3(scale.x*0.5, scale.y*0.5, scale.z*0.5));
  structColShape.setMargin(0.05);

  let localInertia = new Ammo.btVector3(0, 0, 0);
  structColShape.calculateLocalInertia(mass, localInertia);

  let RBodyInfo = new Ammo.btRigidBodyConstructionInfo(mass, defaultMotionState, structColShape, localInertia);
  let RBody = new Ammo.btRigidBody(RBodyInfo);

  physicsWorld.addRigidBody(RBody);

  newcube.userData.physicsBody = RBody;
  rigidBodyList.push(newcube);
}

function createSphere(Ammo, radius, position, mass, rot_quaternion, colour) {
  let quaternion = undefined;
  if(rot_quaternion == null) {quaternion = {x:0, y:0, z:0, w:1}}
  else {quaternion = rot_quaternion}
  // ------ Graphics World - Three.JS ------
  let newsphere = 
    new THREE.Mesh(new THREE.SphereBufferGeometry(radius, 30, 30),
    new THREE.MeshPhongMaterial({color: colour}));
  newsphere.position.set(position.x, position.y, position.z);
  scene.add(newsphere);
  // ------ Physics World - Ammo.js ------
  let transform = new Ammo.btTransform();
  transform.setIdentity();
  transform.setOrigin(new Ammo.btVector3(position.x, position.y, position.z));
  transform.setRotation(new Ammo.btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
  let defaultMotionState = new Ammo.btDefaultMotionState(transform);

  let structColShape = new Ammo.btSphereShape(radius);
  structColShape.setMargin(0.05);

  let localInertia = new Ammo.btVector3(0, 0, 0);
  structColShape.calculateLocalInertia(mass, localInertia);

  let RBodyInfo = new Ammo.btRigidBodyConstructionInfo(mass, defaultMotionState, structColShape, localInertia);
  let RBody = new Ammo.btRigidBody(RBodyInfo);

  physicsWorld.addRigidBody(RBody);

  newsphere.userData.physicsBody = RBody;
  rigidBodyList.push(newsphere);
}

function launchSphere(Ammo, radius, position, mass, rot_quaternion, velocity, colour) {
  let quaternion = undefined;
  if(rot_quaternion == null) {quaternion = {x:0, y:0, z:0, w:1}}
  else {quaternion = rot_quaternion}
  // ------ Graphics World - Three.JS ------
  let newsphere = 
    new THREE.Mesh(new THREE.SphereBufferGeometry(radius, 30, 30),
    new THREE.MeshPhongMaterial({color: colour}));
  newsphere.position.set(position.x, position.y, position.z);
  scene.add(newsphere);
  // ------ Physics World - Ammo.js ------
  let transform = new Ammo.btTransform();
  transform.setIdentity();
  transform.setOrigin(new Ammo.btVector3(position.x, position.y, position.z));
  transform.setRotation(new Ammo.btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
  let defaultMotionState = new Ammo.btDefaultMotionState(transform);

  let structColShape = new Ammo.btSphereShape(radius);
  structColShape.setMargin(0.05);

  let localInertia = new Ammo.btVector3(0, 0, 0);
  structColShape.calculateLocalInertia(mass, localInertia);

  let RBodyInfo = new Ammo.btRigidBodyConstructionInfo(mass, defaultMotionState, structColShape, localInertia);
  let RBody = new Ammo.btRigidBody(RBodyInfo);
  RBody.setLinearVelocity(velocity);

  physicsWorld.addRigidBody(RBody);

  newsphere.userData.physicsBody = RBody;
  rigidBodyList.push(newsphere);
}

// ======================= ANIMATION =======================

// Animation loop
function animate() {
  let deltaTime = clock.getDelta();
  updatephysicsWorld(deltaTime);
  renderer.render(scene, camera);
  requestAnimationFrame(animate);
}

// Physics loop
function updatephysicsWorld(deltaTime) {
  physicsWorld.stepSimulation(deltaTime, 10);
  for (let i = 0; i < rigidBodyList.length; i++) {
    let Graphics_Obj = rigidBodyList[i];
    let Physics_Obj = Graphics_Obj.userData.physicsBody;
    let motionState = Physics_Obj.getMotionState();
    if (motionState) {
      motionState.getWorldTransform(tmpTransformation);
      let new_pos = tmpTransformation.getOrigin();
      let new_qua = tmpTransformation.getRotation();
      Graphics_Obj.position.set(new_pos.x(), new_pos.y(), new_pos.z());
      Graphics_Obj.quaternion.set(new_qua.x(), new_qua.y(), new_qua.z(), new_qua.w());
    }
  }
}

// ========================= DEMOS =========================
function DemoJenga(Ammo) {
  // Jenga Block
  let offset = 0;
  for (let i = 1; i < 20; i++) {
    if (i%2 == 0) {     // Even
      createCube(Ammo, new THREE.Vector3(6, 1, 2), new THREE.Vector3(0, i + offset, -2), 1, null, Math.random() * 0xffffff);
      createCube(Ammo, new THREE.Vector3(6, 1, 2), new THREE.Vector3(0, i + offset, 0), 1, null, Math.random() * 0xffffff);
      createCube(Ammo, new THREE.Vector3(6, 1, 2), new THREE.Vector3(0, i + offset, 2), 1, null, Math.random() * 0xffffff);
    }
    else {              // Odd
      createCube(Ammo, new THREE.Vector3(2, 1, 6), new THREE.Vector3(-2, i + offset, 0), 1, null, Math.random() * 0xffffff);
      createCube(Ammo, new THREE.Vector3(2, 1, 6), new THREE.Vector3(0, i + offset, 0), 1, null, Math.random() * 0xffffff);
      createCube(Ammo, new THREE.Vector3(2, 1, 6), new THREE.Vector3(2, i + offset, 0), 1, null, Math.random() * 0xffffff);
    }
  }
  // Launch sphere - Ammo, radius, position, mass, rot_quaternion, velocity, colour
  launchSphere(Ammo, 2, new THREE.Vector3(30, 10, -30), 10, null, new Ammo.btVector3(-40, 0, 40), Math.random() * 0xffffff);
}

function DemoSpheresAndCubes(Ammo) {
  // Falling cubes - Ammo, scale, position, mass, rot_quaternion, colour
  createCube(Ammo, new THREE.Vector3(0.4, 0.4, 0.4), new THREE.Vector3(0, 1, 0), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.2, 0.2, 0.2), new THREE.Vector3(1, 3, 0), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.4, 0.4, 0.4), new THREE.Vector3(1, 2, 1), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.6, 0.6, 0.6), new THREE.Vector3(0.5, 4, 2), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.8, 0.8, 0.8), new THREE.Vector3(2.5, 10, 0.5), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.8, 0.8, 0.8), new THREE.Vector3(2, 6, 2.5), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.4, 0.4, 0.4), new THREE.Vector3(2, 10, 2.5), 1, null, Math.random() * 0xffffff);
  createCube(Ammo, new THREE.Vector3(0.2, 0.2, 0.2), new THREE.Vector3(2, 20, 2.5), 1, null, Math.random() * 0xffffff);
  
  // Falling spheres - Ammo, radius, position, mass, rot_quaternion, colour
  for (let i = 0; i < 100; i++) {
    createSphere(Ammo, Math.random(), new THREE.Vector3((Math.random()-0.5)*10, Math.random()*10, (Math.random()-0.5)*10), 1, null, Math.random() * 0xffffff);
  }
}

function DemoDoor(Ammo) {
  // Frame
  // Three.js
  let loader = new GLTFLoader();
  loader.load('recources/PuertaDeLaLuna.glb',
    function (gltf) {
      gltf.scene.translateY(3.1);
      scene.add(gltf.scene);
    },
    undefined,
    function (error) {
      console.error(error);
    }
  );

}

// ==================== Initialisation =====================

function StartApp(Ammo) {
  // Set up physics world
  console.log("%cStarting Ammo.JS", "color: lightgreen");
  tmpTransformation = new Ammo.btTransform();
  setupPhysicsWorld(Ammo, -10);
  console.log("%cGravity = " + physicsWorld.getGravity().y(), "color: lightgreen");

  // Set up graphics world
  console.log("%cStarting Three.JS", "color: lightskyblue");
  setupGraphicsWorld();
  console.log("%cThree.JS initialised", "color: lightskyblue");

  // Declare objects  
  // Base - Ammo, scale, position, mass, rot_quaternion, colour
  createCube(Ammo, new THREE.Vector3(50, 1, 50), new THREE.Vector3(0, 0, 0), 0, null, 0xffffff);

  // Demos:
  //DemoSpheresAndCubes(Ammo);
  //DemoJenga(Ammo);
  //DemoDoor(Ammo);

  // Start animation loop
  animate();
}

// ==================== Initialise App ====================
Ammo().then(StartApp);

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Having to Pass Ammo as an arguament to function

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