THREE.js feat. XPBD physics 🌈

Based on Extended Position Based Dynamics by Matthias Müller.

Refer to the docs directory to view the papers and source code used in this project.

Demo: https://markeasting.github.io/three/

Development

npm install - Install dependencies

npm run dev - Runs the local dev server

npm run build - Build the project

Features

Core

• [x] XPBD update loop
• [x] XPBD World / body manager
• [x] Rigid bodies
• [x] Body 'sleep' feature
• [x] applyForce()
• [ ] applyTorque()

Collision solver

• [x] Penetration
• [x] Surface properties: friction & restitution
• [x] Broad phase (AABB)
• [x] Narrow phase (GJK / EPA)
• [x] Convex hull generation
• [x] Contact manifold generation / clipping algorithm
• [ ] Broad phase (sorting algorithm)
• [ ] Broad phase (spatial subdivision / octree)
• [ ] Narrow phase (optimized primitives: spheres, capsules)
• [ ] Object pool for Vec3 instances

Constraints

• [x] Basic constraint
• [x] Mouse picking/dragging
• [x] Calculate constraint force
• [x] Damping
• [ ] Swing / twist limits