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

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

Collision solver

• Penetration
• Surface properties: friction & restitution
• Broad phase (AABB)
• Narrow phase (GJK / EPA)
• Convex hull generation
• 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

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