Feature/ammo driver (#125)

* WIP implementation of ammo-driver.js

* adding support for convex hulls and trimeshes

* Add support for all (most) shape types

* emit events when objects begin/end collision

* basic implementation of all ammo constraint types. expose collisionFlags in ammo-body. expose debugDrawMode in system.

* minor fixes

* fix package and package-lock

* update package.json and package-lock.json; udpate ammo.html example to latest

* point back to latest ammo.js; update package-lock to newer npm format

* pull changes over from mozillareality#hubs/ammo_driver branch

* Revert "pull changes over from mozillareality#hubs/ammo_driver branch"

This reverts commit 72ec427.

* latest WIP. Fixes for properly centering mass, convex hull and trimesh generation, dynamic scaling

* support dynamic scaling

* fix package lock

* fix constraints!

* enable manually specifying halfExtents; fix checks for when type is dynamic so that kinematic objects behave properly (fixes issue where scaled kinematic objects had strange behavior with constraints)

* numerous fixes/updates including: fix for cursor scale affecting constraints strangely; fix for how halfExtents/bounding boxes are being calculated; object center of mass is now set properly; overall less usage of variable references and simplification of various areas of code

* fix constraint rotations (use btGeneric6DofConstraint instead of btFixedConstraint).

* enable usage of ammo-body without a mesh and allow setting of orientation and position offsets.

* rename detail property in collide/collide-end events

* enable changing collision filters; enable switching between kinematic, dynamic and static

* fix gravity for that start out as kinematic but change to dynamic later

* re-add Ammo cleanup

* typo

* fix issues with how transforms in trimeshes were being handled

* update default values for maxSubSteps and fixedTimeStep to the default values of Bullet; revert back to default timestep values in system.js

* actually go back to 10 for maxSubSteps

* fix package.json

* change how debug draw is initialized so that it can be changed dynamically at runtime.

* fix race condition with setting debug param in url

* fix how initializePolyhedralFeatures is called in tick so that it properly handles when debug is toggled on/off

* fix how recentering works and make it optional; refactor initBody to be more efficient;

* prettier pass on ammo-body, ammo-constraint, and ammo-driver

* fix issue with certain trimeshes not being generated correctly

* fix package.json

* update three-to-ammo

* fix issue where kinematic bodies could still be nudged around by dynamic objects; update three-to-ammo

* point to specific sha of three-to-ammo

* fix logic bug which prevented collide-end from ever firing

* performance pass: try to use activationState correctly; check if pos/rot has actually updated before updating bullet motionState; activate object if pos/rot has changed; reduce fixedTimeStep back to 60;

* expose linear/angularSleepingThreshold; move auto updating of scale and generation of shapes to beforeStep

* remove dead code

* fix issue causing eventListeners to be removed incorrectly; optimize eventing loop slightly

* replace some "let" with "const"

* various cleanup from PR review

* move activation states and collision flags into constants; change getVelocity to return the actual velocity vector instead of the scalar length; remove concept of "recenter" (let application handle it themselves using ammo-shape "offset" attribute).

* handle when collisionFlags are explicitly updated

* move shape, body, and constraint types into constants as well; add to the ammo example use of "autoGenerateShape: false"

* update to latest three-to-ammo (siginificantly more efficient shape creation)

* upgrade three-to-ammo (bug fixes)

* wip update to support refactored three-to-ammo

* update three-to-ammo (WIP branch that has the "fit" refactor)

* change ACTIVATION_STATE constants to be strings

* allow updating of activationState in update

* fix shape removal; remove ammo.js as a dependency because it's technically a peer dependency but you can also include it via script tag. latest build of ammo.js will now be located at https://mixedreality.mozilla.org/ammo.js/builds/ammo.wasm.js

* fix bug with removing shapes after the body has already been deleted. update three-to-ammo and ammo-debug-drawer packages

* reduce garbage generation by switching to using maps during collision detection; rename `addCollideEventListener` to `EmitCollisionEvents`

* fix bugs: collisionFilters not being updated correctly, static bodies not getting updated if moved around; enhancements: possible perf improvements by setting `this.physicsWorld.setForceUpdateAllAabbs(false)`

* small fix to how lock constraint limits are set; small memory optimization to collision event logic

* skip the first update that occurs in ammo-body so that various properties don't get incorrectly set twice

* update three-to-ammo with new version that supports calling updateMatrices() when available (e.g. Hubs)

* get rid of more memory allocations

* avoid iterations over maps and sets in ammo-driver step to reduce more garbage generation

* bump three-to-ammo

* Update to latest three-to-ammo
- adds support for HACD and VHACD shape types
- removes compound fit

* fix broken velocity tests

* fix tests again

* Simplify API a bit by replacing collisionFlags property with disableCollision property; explicitly expose maxSubSteps and fixedTimeStep in system for configuring the ammo-driver. revert ITERATIONS constant back to 10.

* Add documentaion for ammo-driver

* fix formatting

* add additional documentation for ammo-body activateStates

* fix table formatting

* documentation typo

* add missing System Configuration section (somehow got lost in copy pasting)

* Elaborate a bit more on collision filtering.

* fix link

* fix formatting, again

* typo

* more cleanup

* handle per-rigidBody gravity correcty. Allow gravity, damping, sleepthresholds, and angularFactor to be updated dynamically.

* fix typo where using just "data" instead of "this.data"

* fix updating gravity and activation states

README.md

@@ -4,7 +4,13 @@
 [![GitHub license](https://img.shields.io/badge/license-MIT-blue.svg)](https://raw.githubusercontent.com/donmccurdy/aframe-physics-system/master/LICENSE)
 [![Build Status](https://travis-ci.org/donmccurdy/aframe-physics-system.svg?branch=master)](https://travis-ci.org/donmccurdy/aframe-physics-system)
 
-Components for A-Frame physics integration, built on [CANNON.js](http://schteppe.github.io/cannon.js/).
+Components for A-Frame physics integration.
+Supports [CANNON.js](http://schteppe.github.io/cannon.js/) and [Ammo.js](https://github.com/kripken/ammo.js/)
+
+
+## New Features
+
+Ammo.js driver support has been added. Please see [Ammo Driver](/AmmoDriver.md) for documentation. CANNON.js support may be deprecated in the future.
 
 ## Contents
 

examples/ammo.html

@@ -0,0 +1,166 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <title>Examples • AmmoDriver</title>
+    <meta name="description" content="Hello, WebVR! - A-Frame" />
+    <script src="https://aframe.io/releases/0.9.1/aframe.min.js"></script>
+    <script src="https://mixedreality.mozilla.org/ammo.js/builds/ammo.wasm.js"></script>
+    <script src="../bundle.js"></script>
+    <script>
+      AFRAME.registerComponent("bounce", {
+        init: function() {
+          this.direction = 1;
+          this.position = new THREE.Vector3();
+          this.position.copy(this.el.object3D.position);
+          setTimeout(() => {
+            this.ready = true;
+          }, 3000);
+        },
+
+        tick: function() {
+          if (!this.ready) return;
+          var position = this.el.object3D.position.y;
+          if (position <= 0) {
+            this.direction = 1;
+          } else if (position >= 5) {
+            this.direction = -1;
+          }
+          this.el.object3D.position.set(this.position.x, position + 0.05 * this.direction, this.position.z);
+        }
+      });
+      AFRAME.registerComponent("changescale", {
+        init: function() {
+          this.direction = 1;
+          setTimeout(() => {
+            this.ready = true;
+          }, 3000);
+        },
+
+        tick: function() {
+          if (!this.ready) return;
+          var scale = this.el.object3D.scale;
+          if (scale.x <= 0.05) {
+            this.direction = 1;
+          } else if (scale.x >= 1) {
+            this.direction = -1;
+          }
+          this.el.object3D.scale.set(
+            scale.x + this.direction * 0.01,
+            scale.y + this.direction * 0.01,
+            scale.z + this.direction * 0.01
+          );
+        }
+      });
+    </script>
+  </head>
+  <body>
+    <a-scene physics="driver: ammo; debug: true; gravity: -9.8; debugDrawMode: 1">
+      <a-camera near="0.001"></a-camera>
+      <a-box
+        position="-1 5 -5"
+        rotation="0 45 0"
+        color="#4CC3D9"
+        shadow
+        ammo-body
+        ammo-shape="type: box; halfExtents: 0.6 0.6 0.6; fit: manual;"
+      ></a-box>
+      <a-box
+        id="target"
+        position="1 3.75 -4"
+        rotation="0 45 0"
+        color="purple"
+        shadow
+        ammo-body
+        ammo-shape="type: box;"
+      ></a-box>
+      <a-sphere
+        position="0 10 -10"
+        radius="1.25"
+        color="#EF2D5E"
+        shadow
+        ammo-body
+        ammo-shape="type: sphere;"
+      ></a-sphere>
+      <a-cone
+        position="0 3.75 -4"
+        radius-bottom="1.25"
+        color="green"
+        shadow
+        bounce
+        ammo-body="type: kinematic; addCollideEventListener: true; disableCollision: true;"
+        ammo-shape="type: cone;"
+        ammo-constraint="target: #target;"
+      ></a-cone>
+      <a-torus
+        position="-1 3.75 -7"
+        radius="1.25"
+        scale="0.5 0.5 0.5"
+        color="red"
+        shadow
+        ammo-body
+        ammo-shape="type: capsule; cylinderAxis: z;"
+        changescale
+      ></a-torus>
+      <a-torus-knot
+        position="0 3.75 -5"
+        radius="1.25"
+        scale="0.5 0.5 0.5"
+        color="blue"
+        shadow
+        ammo-body="addCollideEventListener: false;"
+        ammo-shape
+      ></a-torus-knot>
+      <a-cylinder
+        segments-height="1"
+        segments-radial="10"
+        position="1 4.0 -5"
+        radius="0.5"
+        height="1.5"
+        color="#FFC65D"
+        shadow
+        ammo-body
+        ammo-shape="type: cylinder"
+      ></a-cylinder>
+      <a-plane
+        position="0 2 -4"
+        rotation="90 0 0"
+        width="1"
+        height="1"
+        color="#7BC8A4"
+        shadow
+        ammo-body="type: static; mass: 0;"
+        ammo-shape="type: box;"
+      ></a-plane>
+      <a-torus-knot
+        position="0 0 -7"
+        radius="1.25"
+        scale="5 0.1 5"
+        rotation="0 90 0"
+        color="#7BC8A4"
+        shadow
+        ammo-body="type: static; mass: 0;"
+        ammo-shape="type: mesh;"
+      ></a-torus-knot>
+      <!-- HACD and VHACD are slow -->
+      <!--       <a-torus-knot
+        position="-2 1.5 -1"
+        rotation="0 90 90"
+        scale="0.5 0.5 0.5"
+        color="red"
+        shadow
+        ammo-body
+        ammo-shape="type: hacd;"
+      ></a-torus-knot>
+      <a-torus-knot
+        position="2 1.5 -1"
+        rotation="0 90 90"
+        scale="0.5 0.5 0.5"
+        color="blue"
+        shadow
+        ammo-body
+        ammo-shape="type: vhacd;"
+      ></a-torus-knot> -->
+      <a-sky color="#000000"></a-sky>
+    </a-scene>
+  </body>
+</html>

examples/cannon.html

@@ -0,0 +1,48 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <title>Examples • CannonDriver</title>
+    <meta name="description" content="Hello, WebVR! - A-Frame">
+    <script src="https://aframe.io/releases/0.8.2/aframe.min.js"></script>
+    <script src="../bundle.js"></script>
+    <script>
+      AFRAME.registerComponent('bounce', {
+        init: function() {
+          this.direction = 1;
+          this.position = new THREE.Vector3();
+          this.position.copy(this.el.object3D.position);
+          setTimeout(() => {
+            this.ready = true;
+          }, 3000);
+        },
+
+        tick: function() {
+          if (!this.ready) return;
+          var position = this.el.object3D.position.y;
+          if (position <= 0) {
+            this.direction = 1;
+          } else if (position >= 5) {
+            this.direction = -1;
+          }
+          this.el.object3D.position.set(this.position.x, position + 0.05 * this.direction, this.position.z);
+        }
+      });
+    </script>
+  </head>
+  <body>
+    <a-scene physics="debug: false; gravity: -9.8;">
+      <a-camera near=0.001></a-camera>
+      <a-box position="-1 5 -5" rotation="0 45 0" color="#4CC3D9" shadow body="shape: box;"></a-box>
+      <a-box id="target" position="1 3.75 -4" rotation="0 45 0" color="purple" shadow body="shape: box;"></a-box>
+      <a-sphere position="0 10 -10" radius="1.25" color="#EF2D5E" shadow body="shape: sphere;"></a-sphere>
+      <a-cone position="0 3.75 -4" radius-bottom="1.25" color="green" shadow bounce body="type: static; mass:  shape: cone; addCollideEventListener: true; collisionFlags: 4" constraint="target: #target;"></a-cone>
+      <a-torus position="-1 3.75 -7" radius="1.25" scale="0.5 0.5 0.5" color="red" shadow body="shape: capsule; cylinderAxis: z;"></a-torus>
+      <a-torus-knot position="0 3.75 -5" radius="1.25" scale="0.5 0.5 0.5" color="blue" shadow body="addCollideEventListener: false;"></a-torus-knot>
+      <a-cylinder segments-height="1" segments-radial="10" position="1 4.0 -5" radius="0.5" height="1.5" color="#FFC65D" shadow body="shape: cylinder"></a-cylinder>
+      <a-plane position="0 2 -4" rotation="90 0 0" width="1" height="1" color="#7BC8A4" shadow body="type: static; mass: 0; shape: box;"></a-plane>
+      <a-torus-knot position="0 0 -7" radius="1.25" scale="5 0.1 5" rotation="0 90 0" color="#7BC8A4" shadow body="type: static; mass: 0; shape: box;"></a-torus-knot>
+      <a-sky color="#ECECEC"></a-sky>
+    </a-scene>
+  </body>
+</html>
+

index.js

@@ -1,10 +1,13 @@
 var CANNON = require('cannon');
 
 require('./src/components/math');
+require('./src/components/body/ammo-body');
 require('./src/components/body/body');
 require('./src/components/body/dynamic-body');
 require('./src/components/body/static-body');
-require('./src/components/shape/shape')
+require('./src/components/shape/shape');
+require('./src/components/shape/ammo-shape')
+require('./src/components/ammo-constraint');
 require('./src/components/constraint');
 require('./src/components/spring');
 require('./src/system');