@orillusion/physics

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Class: CollisionShapeUtil

Defined in: packages/physics/utils/CollisionShapeUtil.ts:15

CollisionShapeUtil Provides utilities for building various collision shapes.

Constructors

Constructor

new CollisionShapeUtil(): CollisionShapeUtil

Returns

CollisionShapeUtil

Methods

createStaticPlaneShape()

static createStaticPlaneShape(planeNormal?, planeConstant?): btStaticPlaneShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:22

Creates a static plane collision shape, suitable for static infinite planes such as the ground or walls.

Parameters

planeNormal?

Vector3 = Vector3.UP

The plane normal vector. Defaults to Vector3.UP.

planeConstant?

number = 0

The plane constant, representing the distance from the plane to the origin. Defaults to 0.

Returns

btStaticPlaneShape

Ammo.btStaticPlaneShape - The static plane collision shape instance.

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createBoxShape()

static createBoxShape(object3D, size?): btBoxShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:36

Creates a box collision shape, suitable for box-shaped objects with well-defined dimensions. If no size is specified, the bounding box size of the 3D object is used.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

size?

Vector3

Optional. The dimensions of the box collision shape.

Returns

btBoxShape

Ammo.btBoxShape - The box collision shape instance.

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createSphereShape()

static createSphereShape(object3D, radius?): btSphereShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:51

Creates a sphere collision shape, suitable for spherical objects. If no radius is specified, the bounding box radius X of the 3D object is used.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

radius?

number

Optional. The radius of the sphere collision shape.

Returns

btSphereShape

Ammo.btSphereShape - The sphere collision shape instance.

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createCapsuleShape()

static createCapsuleShape(object3D, radius?, height?): btCapsuleShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:66

Creates a capsule collision shape, suitable for capsule-shaped objects. If no dimensions are specified, the bounding box radius X and height Y of the 3D object are used.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

radius?

number

Optional. The radius of the capsule.

height?

number

Optional. The height of the cylindrical middle section of the capsule.

Returns

btCapsuleShape

Ammo.btCapsuleShape - The capsule collision shape instance.

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createCylinderShape()

static createCylinderShape(object3D, radius?, height?): btCylinderShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:85

Creates a cylinder collision shape, suitable for cylindrical objects. If no dimensions are specified, the bounding box radius X and height Y of the 3D object are used.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

radius?

number

Optional. The radius of the cylinder.

height?

number

Optional. The full height of the cylinder.

Returns

btCylinderShape

Ammo.btCylinderShape - The cylinder collision shape instance.

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createConeShape()

static createConeShape(object3D, radius?, height?): btConeShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:105

Creates a cone collision shape, suitable for cone-shaped objects. If no dimensions are specified, the bounding box radius X and height Y of the 3D object are used.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

radius?

number

Optional. The radius of the cone.

height?

number

Optional. The height of the cone.

Returns

btConeShape

Ammo.btConeShape - The cone collision shape instance.

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createCompoundShape()

static createCompoundShape(childShapes): btCompoundShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:121

Creates a compound shape that combines multiple child shapes into a single shape.

Parameters

childShapes

ChildShape[]

An array containing child shape instances along with their position and rotation properties.

Returns

btCompoundShape

Ammo.btCompoundShape - The compound shape instance.

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createCompoundShapeFromObject()

static createCompoundShapeFromObject(object3D, includeParent?): btCompoundShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:142

Creates a compound collision shape from an Object3D and its child objects.

Parameters

object3D

Object3D

The 3D object containing multiple child objects.

includeParent?

boolean = true

Whether to include the parent object's geometry. Defaults to true.

Returns

btCompoundShape

The compound collision shape.

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createShapeFromObject()

static createShapeFromObject(object3D): btCollisionShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:188

Creates a collision shape that matches the geometry type of the Object3D.

Only Box, Sphere, Plane, and Cylinder geometries are supported. For any other geometry type, a btConvexHullShape (convex hull) is returned.

Parameters

object3D

Object3D

Returns

btCollisionShape

Ammo.btCollisionShape

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createHeightfieldTerrainShape()

static createHeightfieldTerrainShape(object3D, heightScale?, upAxis?, hdt?, flipQuadEdges?): btHeightfieldTerrainShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:246

Creates a heightfield shape that simulates terrain based on plane vertex data.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

heightScale?

number = 1

The height scaling factor. Defaults to 1.

upAxis?

number = 1

The up axis of the heightfield. Defaults to 1.

hdt?

PHY_ScalarType = 'PHY_FLOAT'

The data type of the heightfield. Defaults to Ammo.PHY_FLOAT.

flipQuadEdges?

boolean = false

Whether to flip the quad edges. Defaults to false.

Returns

btHeightfieldTerrainShape

Ammo.btHeightfieldTerrainShape - The heightfield terrain shape instance.

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createConvexHullShape()

static createConvexHullShape(object3D, modelVertices?): btConvexHullShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:299

Creates a convex hull shape, suitable for models with filled-in concavities. This shape is appropriate for dynamic objects and provides fast collision detection.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

modelVertices?

Float32Array

Optional. Vertex data for the collision shape. Defaults to the 3D object's vertex data.

Returns

btConvexHullShape

Ammo.btConvexHullShape - The convex hull shape instance.

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createConvexTriangleMeshShape()

static createConvexTriangleMeshShape(object3D, modelVertices?, modelIndices?): btBvhTriangleMeshShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:322

Creates a convex triangle mesh shape, suitable for dynamic objects that require complex geometric representation. This shape does not require a separate convex hull generation step and is suitable for convex triangle meshes.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

modelVertices?

Float32Array

Optional. Vertex data for the collision shape.

modelIndices?

Uint16Array

Optional. Index data for the collision shape.

Returns

btBvhTriangleMeshShape

Ammo.btConvexTriangleMeshShape - The convex triangle mesh shape instance.

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createBvhTriangleMeshShape()

static createBvhTriangleMeshShape(object3D, modelVertices?, modelIndices?): btBvhTriangleMeshShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:349

Creates a bounding volume hierarchy (BVH) triangle mesh shape, suitable for static objects that require complex geometric representation. This shape is well-suited for large-scale static meshes but is not appropriate for dynamic objects.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

modelVertices?

Float32Array

Optional. Vertex data for the collision shape.

modelIndices?

Uint16Array

Optional. Index data for the collision shape.

Returns

btBvhTriangleMeshShape

Ammo.btBvhTriangleMeshShape - The BVH triangle mesh shape instance.

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createGImpactMeshShape()

static createGImpactMeshShape(object3D, modelVertices?, modelIndices?): btGImpactMeshShape

Defined in: packages/physics/utils/CollisionShapeUtil.ts:376

Creates a GImpact mesh shape, suitable for dynamic objects that require complex geometric representation. Based on the GIMPACT algorithm, it can be used for complex triangle mesh collision detection, including interactions between dynamic objects. This shape has a higher performance cost but provides more precise collision detection.

Parameters

object3D

Object3D

The 3D object used to create the collision shape.

modelVertices?

Float32Array

Optional. Vertex data for the collision shape.

modelIndices?

Uint16Array

Optional. Index data for the collision shape.

Returns

btGImpactMeshShape

Ammo.btGImpactMeshShape - The GImpact mesh shape instance.

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buildTriangleMesh()

static buildTriangleMesh(vertices, indices): btTriangleMesh

Defined in: packages/physics/utils/CollisionShapeUtil.ts:402

Builds a btTriangleMesh object used to create mesh shapes.

Parameters

vertices

Float32Array

Vertex data laid out in xyz order.

indices

Uint16Array

Index data defining the vertex indices of each triangle.

Returns

btTriangleMesh

Ammo.btTriangleMesh - The constructed triangle mesh.

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getAllMeshVerticesAndIndices()

static getAllMeshVerticesAndIndices(object3D, isTransformChildren?): object

Defined in: packages/physics/utils/CollisionShapeUtil.ts:426

Gets the vertices and indices of all meshes belonging to a 3D object.

Parameters

object3D

Object3D

The 3D object.

isTransformChildren?

boolean = true

Whether to transform child object vertices into the parent object's local coordinate space. Defaults to true.

Returns

object

The combined vertex data and index data.

vertices

vertices: Float32Array<ArrayBufferLike>

indices

indices: Uint16Array<ArrayBufferLike>