BlueMagnificent/contact_pair_test.html

## contact_pair_test.html

<html>
    <head>
        <meta charset="utf-8">
        <title>Collision JS 3D Physics</title>
        <style>
            body { margin: 0; }
        </style>
    </head>
    <body>
        <script src="js/three.js"></script>
        <script src="js/ammo.js"></script>
        <script>

            //variable declaration section
            let physicsWorld, scene, camera, renderer, rigidBodies = [], pos = new THREE.Vector3(), tmpTrans = null;
            let ball, moveDirection = { left: 0, right: 0, forward: 0, back: 0, up: 0, down: 0 };

            const STATE = { DISABLE_DEACTIVATION : 4 };

            let cbContactResult;
            let redTile, cbContactPairResult;

            //Ammojs Initialization
            Ammo().then(start)

            function start (){

                tmpTrans = new Ammo.btTransform();

                setupPhysicsWorld();

                setupGraphics();

                createFloorTiles();

                createBall();

                setupContactResultCallback();

                setupContactPairResultCallback();

                setupEventHandlers();

                renderFrame();

            }

            function setupPhysicsWorld(){

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

                physicsWorld           = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
                physicsWorld.setGravity(new Ammo.btVector3(0, -10, 0));

            }


            function setupGraphics(){

                //create clock for timing
                clock = new THREE.Clock();

                //create the scene
                scene = new THREE.Scene();
                scene.background = new THREE.Color( 0xabfeff );

                //create camera
                camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 5000 );
                camera.position.set( 0, 80, 40 );
                camera.lookAt(new THREE.Vector3(0, 0, 0));

                //Add hemisphere light
                let hemiLight = new THREE.HemisphereLight( 0xffffff, 0xffffff, 0.1 );
                hemiLight.color.setHSL( 0.6, 0.6, 0.6 );
                hemiLight.groundColor.setHSL( 0.1, 1, 0.4 );
                hemiLight.position.set( 0, 50, 0 );
                scene.add( hemiLight );

                //Add directional light
                let dirLight = new THREE.DirectionalLight( 0xffffff , 1);
                dirLight.color.setHSL( 0.1, 1, 0.95 );
                dirLight.position.set( -1, 1.75, 1 );
                dirLight.position.multiplyScalar( 100 );
                scene.add( dirLight );

                dirLight.castShadow = true;

                dirLight.shadow.mapSize.width = 2048;
                dirLight.shadow.mapSize.height = 2048;

                let d = 50;

                dirLight.shadow.camera.left = -d;
                dirLight.shadow.camera.right = d;
                dirLight.shadow.camera.top = d;
                dirLight.shadow.camera.bottom = -d;

                dirLight.shadow.camera.far = 13500;

                //Setup the renderer
                renderer = new THREE.WebGLRenderer( { antialias: true } );
                renderer.setClearColor( 0xbfd1e5 );
                renderer.setPixelRatio( window.devicePixelRatio );
                renderer.setSize( window.innerWidth, window.innerHeight );
                document.body.appendChild( renderer.domElement );

                renderer.gammaInput = true;
                renderer.gammaOutput = true;

                renderer.shadowMap.enabled = true;

            }


            function renderFrame(){

                let deltaTime = clock.getDelta();

                moveBall();

                updatePhysics( deltaTime );

                renderer.render( scene, camera );

                requestAnimationFrame( renderFrame );

            }


            function setupEventHandlers(){

                window.addEventListener( 'resize', onWindowResize, false );
                window.addEventListener( 'keydown', handleKeyDown, false);
                window.addEventListener( 'keyup', handleKeyUp, false);

            }


            function onWindowResize() {

                camera.aspect = window.innerWidth / window.innerHeight;
                camera.updateProjectionMatrix();

                renderer.setSize( window.innerWidth, window.innerHeight );

            }


            function handleKeyDown(event){

                let keyCode = event.keyCode;

                switch(keyCode){

                    case 87: //W: FORWARD
                        moveDirection.forward = 1;
                        break;

                    case 83: //S: BACK
                        moveDirection.back = 1;
                        break;

                    case 65: //A: LEFT
                        moveDirection.left = 1;
                        break;

                    case 68: //D: RIGHT
                        moveDirection.right = 1;
                        break;

                    case 84://T
                        checkContact();
                        break;

                    case 74://J
                        jump();
                        break;

                }
            }


            function handleKeyUp(event){
                let keyCode = event.keyCode;

                switch(keyCode){
                    case 87: //W: FORWARD
                        moveDirection.forward = 0;
                        break;

                    case 83: //S: BACK
                        moveDirection.back = 0;
                        break;

                    case 65: //A: LEFT
                        moveDirection.left = 0;
                        break;

                    case 68: //D: RIGHT
                        moveDirection.right = 0;
                        break;
                }

            }


            function createFloorTiles(){
                let tiles = [
                    { name: "yellow", color: 0xFFFF00, pos: {x: -20, y: 0, z: 20} },
                    { name: "red", color: 0xFF0000, pos: {x: 20, y: 0, z: 20} },
                    { name: "green", color: 0x008000, pos: {x: 20, y: 0, z: -20} },
                    { name: "blue", color: 0x0000FF, pos: {x: -20, y: 0, z: -20} }
                ]

                let scale = {x: 40, y: 6, z: 40};
                let quat = {x: 0, y: 0, z: 0, w: 1};
                let mass = 0;

                for (const tile of tiles) {

                    //threeJS Section
                    let pos = tile.pos;
                    let mesh = new THREE.Mesh(new THREE.BoxBufferGeometry(), new THREE.MeshPhongMaterial({color: tile.color}));

                    mesh.position.set(pos.x, pos.y, pos.z);
                    mesh.scale.set(scale.x, scale.y, scale.z);

                    mesh.castShadow = true;
                    mesh.receiveShadow = true;

                    mesh.userData.tag = tile.name;

                    scene.add(mesh);


                    //Ammojs Section
                    let transform = new Ammo.btTransform();
                    transform.setIdentity();
                    transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
                    transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
                    let motionState = new Ammo.btDefaultMotionState( transform );

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

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

                    let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
                    let body = new Ammo.btRigidBody( rbInfo );

                    body.setFriction(4);
                    body.setRollingFriction(10);

                    physicsWorld.addRigidBody( body );

                    body.threeObject = mesh;

                    if( tile.name == "red"){

                        mesh.userData.physicsBody = body;
                        redTile = mesh;

                    }

                }

            }


            function createBall(){

                let pos = {x: 0, y: 10, z: 0};
                let radius = 1.5;
                let quat = {x: 0, y: 0, z: 0, w: 1};
                let mass = 1;

                //threeJS Section
                ball = ballObject = new THREE.Mesh(new THREE.SphereBufferGeometry(radius), new THREE.MeshPhongMaterial({color: 0x800080}));

                ball.position.set(pos.x, pos.y, pos.z);

                ball.castShadow = true;
                ball.receiveShadow = true;

                ball.userData.tag = "ball";

                scene.add(ball);


                //Ammojs Section
                let transform = new Ammo.btTransform();
                transform.setIdentity();
                transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
                transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
                let motionState = new Ammo.btDefaultMotionState( transform );

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

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

                let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
                let body = new Ammo.btRigidBody( rbInfo );

                body.setFriction(4);
                body.setRollingFriction(10);

                body.setActivationState( STATE.DISABLE_DEACTIVATION )


                physicsWorld.addRigidBody( body );
                rigidBodies.push(ball);

                ball.userData.physicsBody = body;

                body.threeObject = ball;

            }

            function setupContactResultCallback(){

                cbContactResult = new Ammo.ConcreteContactResultCallback();

                cbContactResult.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1){

                    let contactPoint = Ammo.wrapPointer( cp, Ammo.btManifoldPoint );

                    const distance = contactPoint.getDistance();

                    if( distance > 0 ) return;

                    let colWrapper0 = Ammo.wrapPointer( colObj0Wrap, Ammo.btCollisionObjectWrapper );
                    let rb0 = Ammo.castObject( colWrapper0.getCollisionObject(), Ammo.btRigidBody );

                    let colWrapper1 = Ammo.wrapPointer( colObj1Wrap, Ammo.btCollisionObjectWrapper );
                    let rb1 = Ammo.castObject( colWrapper1.getCollisionObject(), Ammo.btRigidBody );

                    let threeObject0 = rb0.threeObject;
                    let threeObject1 = rb1.threeObject;

                    let tag, localPos, worldPos

                    if( threeObject0.userData.tag != "ball" ){

                        tag = threeObject0.userData.tag;
                        localPos = contactPoint.get_m_localPointA();
                        worldPos = contactPoint.get_m_positionWorldOnA();

                    }
                    else{

                        tag = threeObject1.userData.tag;
                        localPos = contactPoint.get_m_localPointB();
                        worldPos = contactPoint.get_m_positionWorldOnB();

                    }

                    let localPosDisplay = {x: localPos.x(), y: localPos.y(), z: localPos.z()};
                    let worldPosDisplay = {x: worldPos.x(), y: worldPos.y(), z: worldPos.z()};

                    console.log( { tag, localPosDisplay, worldPosDisplay } );

                }

            }


            function setupContactPairResultCallback(){

                cbContactPairResult = new Ammo.ConcreteContactResultCallback();

                cbContactPairResult.hasContact = false;

                cbContactPairResult.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1){

                    let contactPoint = Ammo.wrapPointer( cp, Ammo.btManifoldPoint );

                    const distance = contactPoint.getDistance();

                    if( distance > 0 ) return;

                    this.hasContact = true;

                }

            }


            function moveBall(){

                let scalingFactor = 20;

                let moveX =  moveDirection.right - moveDirection.left;
                let moveZ =  moveDirection.back - moveDirection.forward;

                if( moveX == 0 && moveZ == 0) return;

                let resultantImpulse = new Ammo.btVector3( moveX, 0, moveZ )
                resultantImpulse.op_mul(scalingFactor);

                let physicsBody = ball.userData.physicsBody;
                physicsBody.setLinearVelocity( resultantImpulse );

            }


            function checkContact(){

                physicsWorld.contactTest( ball.userData.physicsBody , cbContactResult );

            }


            function jump(){

                cbContactPairResult.hasContact = false;

                physicsWorld.contactPairTest(ball.userData.physicsBody, redTile.userData.physicsBody, cbContactPairResult);

                if( !cbContactPairResult.hasContact ) return;

                let jumpImpulse = new Ammo.btVector3( 0, 15, 0 );

                let physicsBody = ball.userData.physicsBody;
                physicsBody.setLinearVelocity( jumpImpulse );

            }


            function updatePhysics( deltaTime ){

                // Step world
                physicsWorld.stepSimulation( deltaTime, 10 );

                // Update rigid bodies
                for ( let i = 0; i < rigidBodies.length; i++ ) {
                    let objThree = rigidBodies[ i ];
                    let objAmmo = objThree.userData.physicsBody;
                    let ms = objAmmo.getMotionState();
                    if ( ms ) {

                        ms.getWorldTransform( tmpTrans );
                        let p = tmpTrans.getOrigin();
                        let q = tmpTrans.getRotation();
                        objThree.position.set( p.x(), p.y(), p.z() );
                        objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );

                    }
                }

            }


        </script>
    </body>
</html>

	<html>
	<head>
	<meta charset="utf-8">
	<title>Collision JS 3D Physics</title>
	<style>
	body { margin: 0; }
	</style>
	</head>
	<body>
	<script src="js/three.js"></script>
	<script src="js/ammo.js"></script>
	<script>

	//variable declaration section
	let physicsWorld, scene, camera, renderer, rigidBodies = [], pos = new THREE.Vector3(), tmpTrans = null;
	let ball, moveDirection = { left: 0, right: 0, forward: 0, back: 0, up: 0, down: 0 };

	const STATE = { DISABLE_DEACTIVATION : 4 };

	let cbContactResult;
	let redTile, cbContactPairResult;

	//Ammojs Initialization
	Ammo().then(start)

	function start (){

	tmpTrans = new Ammo.btTransform();

	setupPhysicsWorld();

	setupGraphics();

	createFloorTiles();

	createBall();

	setupContactResultCallback();

	setupContactPairResultCallback();

	setupEventHandlers();

	renderFrame();

	}

	function setupPhysicsWorld(){

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

	physicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
	physicsWorld.setGravity(new Ammo.btVector3(0, -10, 0));

	}


	function setupGraphics(){

	//create clock for timing
	clock = new THREE.Clock();

	//create the scene
	scene = new THREE.Scene();
	scene.background = new THREE.Color( 0xabfeff );

	//create camera
	camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 5000 );
	camera.position.set( 0, 80, 40 );
	camera.lookAt(new THREE.Vector3(0, 0, 0));

	//Add hemisphere light
	let hemiLight = new THREE.HemisphereLight( 0xffffff, 0xffffff, 0.1 );
	hemiLight.color.setHSL( 0.6, 0.6, 0.6 );
	hemiLight.groundColor.setHSL( 0.1, 1, 0.4 );
	hemiLight.position.set( 0, 50, 0 );
	scene.add( hemiLight );

	//Add directional light
	let dirLight = new THREE.DirectionalLight( 0xffffff , 1);
	dirLight.color.setHSL( 0.1, 1, 0.95 );
	dirLight.position.set( -1, 1.75, 1 );
	dirLight.position.multiplyScalar( 100 );
	scene.add( dirLight );

	dirLight.castShadow = true;

	dirLight.shadow.mapSize.width = 2048;
	dirLight.shadow.mapSize.height = 2048;

	let d = 50;

	dirLight.shadow.camera.left = -d;
	dirLight.shadow.camera.right = d;
	dirLight.shadow.camera.top = d;
	dirLight.shadow.camera.bottom = -d;

	dirLight.shadow.camera.far = 13500;

	//Setup the renderer
	renderer = new THREE.WebGLRenderer( { antialias: true } );
	renderer.setClearColor( 0xbfd1e5 );
	renderer.setPixelRatio( window.devicePixelRatio );
	renderer.setSize( window.innerWidth, window.innerHeight );
	document.body.appendChild( renderer.domElement );

	renderer.gammaInput = true;
	renderer.gammaOutput = true;

	renderer.shadowMap.enabled = true;

	}


	function renderFrame(){

	let deltaTime = clock.getDelta();

	moveBall();

	updatePhysics( deltaTime );

	renderer.render( scene, camera );

	requestAnimationFrame( renderFrame );

	}


	function setupEventHandlers(){

	window.addEventListener( 'resize', onWindowResize, false );
	window.addEventListener( 'keydown', handleKeyDown, false);
	window.addEventListener( 'keyup', handleKeyUp, false);

	}


	function onWindowResize() {

	camera.aspect = window.innerWidth / window.innerHeight;
	camera.updateProjectionMatrix();

	renderer.setSize( window.innerWidth, window.innerHeight );

	}


	function handleKeyDown(event){

	let keyCode = event.keyCode;

	switch(keyCode){

	case 87: //W: FORWARD
	moveDirection.forward = 1;
	break;

	case 83: //S: BACK
	moveDirection.back = 1;
	break;

	case 65: //A: LEFT
	moveDirection.left = 1;
	break;

	case 68: //D: RIGHT
	moveDirection.right = 1;
	break;

	case 84://T
	checkContact();
	break;

	case 74://J
	jump();
	break;

	}
	}


	function handleKeyUp(event){
	let keyCode = event.keyCode;

	switch(keyCode){
	case 87: //W: FORWARD
	moveDirection.forward = 0;
	break;

	case 83: //S: BACK
	moveDirection.back = 0;
	break;

	case 65: //A: LEFT
	moveDirection.left = 0;
	break;

	case 68: //D: RIGHT
	moveDirection.right = 0;
	break;
	}

	}


	function createFloorTiles(){
	let tiles = [
	{ name: "yellow", color: 0xFFFF00, pos: {x: -20, y: 0, z: 20} },
	{ name: "red", color: 0xFF0000, pos: {x: 20, y: 0, z: 20} },
	{ name: "green", color: 0x008000, pos: {x: 20, y: 0, z: -20} },
	{ name: "blue", color: 0x0000FF, pos: {x: -20, y: 0, z: -20} }
	]

	let scale = {x: 40, y: 6, z: 40};
	let quat = {x: 0, y: 0, z: 0, w: 1};
	let mass = 0;

	for (const tile of tiles) {

	//threeJS Section
	let pos = tile.pos;
	let mesh = new THREE.Mesh(new THREE.BoxBufferGeometry(), new THREE.MeshPhongMaterial({color: tile.color}));

	mesh.position.set(pos.x, pos.y, pos.z);
	mesh.scale.set(scale.x, scale.y, scale.z);

	mesh.castShadow = true;
	mesh.receiveShadow = true;

	mesh.userData.tag = tile.name;

	scene.add(mesh);


	//Ammojs Section
	let transform = new Ammo.btTransform();
	transform.setIdentity();
	transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
	transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
	let motionState = new Ammo.btDefaultMotionState( transform );

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

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

	let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
	let body = new Ammo.btRigidBody( rbInfo );

	body.setFriction(4);
	body.setRollingFriction(10);

	physicsWorld.addRigidBody( body );

	body.threeObject = mesh;

	if( tile.name == "red"){

	mesh.userData.physicsBody = body;
	redTile = mesh;

	}

	}

	}


	function createBall(){

	let pos = {x: 0, y: 10, z: 0};
	let radius = 1.5;
	let quat = {x: 0, y: 0, z: 0, w: 1};
	let mass = 1;

	//threeJS Section
	ball = ballObject = new THREE.Mesh(new THREE.SphereBufferGeometry(radius), new THREE.MeshPhongMaterial({color: 0x800080}));

	ball.position.set(pos.x, pos.y, pos.z);

	ball.castShadow = true;
	ball.receiveShadow = true;

	ball.userData.tag = "ball";

	scene.add(ball);


	//Ammojs Section
	let transform = new Ammo.btTransform();
	transform.setIdentity();
	transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
	transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
	let motionState = new Ammo.btDefaultMotionState( transform );

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

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

	let rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, colShape, localInertia );
	let body = new Ammo.btRigidBody( rbInfo );

	body.setFriction(4);
	body.setRollingFriction(10);

	body.setActivationState( STATE.DISABLE_DEACTIVATION )


	physicsWorld.addRigidBody( body );
	rigidBodies.push(ball);

	ball.userData.physicsBody = body;

	body.threeObject = ball;

	}

	function setupContactResultCallback(){

	cbContactResult = new Ammo.ConcreteContactResultCallback();

	cbContactResult.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1){

	let contactPoint = Ammo.wrapPointer( cp, Ammo.btManifoldPoint );

	const distance = contactPoint.getDistance();

	if( distance > 0 ) return;

	let colWrapper0 = Ammo.wrapPointer( colObj0Wrap, Ammo.btCollisionObjectWrapper );
	let rb0 = Ammo.castObject( colWrapper0.getCollisionObject(), Ammo.btRigidBody );

	let colWrapper1 = Ammo.wrapPointer( colObj1Wrap, Ammo.btCollisionObjectWrapper );
	let rb1 = Ammo.castObject( colWrapper1.getCollisionObject(), Ammo.btRigidBody );

	let threeObject0 = rb0.threeObject;
	let threeObject1 = rb1.threeObject;

	let tag, localPos, worldPos

	if( threeObject0.userData.tag != "ball" ){

	tag = threeObject0.userData.tag;
	localPos = contactPoint.get_m_localPointA();
	worldPos = contactPoint.get_m_positionWorldOnA();

	}
	else{

	tag = threeObject1.userData.tag;
	localPos = contactPoint.get_m_localPointB();
	worldPos = contactPoint.get_m_positionWorldOnB();

	}

	let localPosDisplay = {x: localPos.x(), y: localPos.y(), z: localPos.z()};
	let worldPosDisplay = {x: worldPos.x(), y: worldPos.y(), z: worldPos.z()};

	console.log( { tag, localPosDisplay, worldPosDisplay } );

	}

	}


	function setupContactPairResultCallback(){

	cbContactPairResult = new Ammo.ConcreteContactResultCallback();

	cbContactPairResult.hasContact = false;

	cbContactPairResult.addSingleResult = function(cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1){

	let contactPoint = Ammo.wrapPointer( cp, Ammo.btManifoldPoint );

	const distance = contactPoint.getDistance();

	if( distance > 0 ) return;

	this.hasContact = true;

	}

	}



	function moveBall(){

	let scalingFactor = 20;

	let moveX = moveDirection.right - moveDirection.left;
	let moveZ = moveDirection.back - moveDirection.forward;

	if( moveX == 0 && moveZ == 0) return;

	let resultantImpulse = new Ammo.btVector3( moveX, 0, moveZ )
	resultantImpulse.op_mul(scalingFactor);

	let physicsBody = ball.userData.physicsBody;
	physicsBody.setLinearVelocity( resultantImpulse );

	}


	function checkContact(){

	physicsWorld.contactTest( ball.userData.physicsBody , cbContactResult );

	}


	function jump(){

	cbContactPairResult.hasContact = false;

	physicsWorld.contactPairTest(ball.userData.physicsBody, redTile.userData.physicsBody, cbContactPairResult);

	if( !cbContactPairResult.hasContact ) return;

	let jumpImpulse = new Ammo.btVector3( 0, 15, 0 );

	let physicsBody = ball.userData.physicsBody;
	physicsBody.setLinearVelocity( jumpImpulse );

	}


	function updatePhysics( deltaTime ){

	// Step world
	physicsWorld.stepSimulation( deltaTime, 10 );

	// Update rigid bodies
	for ( let i = 0; i < rigidBodies.length; i++ ) {
	let objThree = rigidBodies[ i ];
	let objAmmo = objThree.userData.physicsBody;
	let ms = objAmmo.getMotionState();
	if ( ms ) {

	ms.getWorldTransform( tmpTrans );
	let p = tmpTrans.getOrigin();
	let q = tmpTrans.getRotation();
	objThree.position.set( p.x(), p.y(), p.z() );
	objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );

	}
	}

	}


	</script>
	</body>
	</html>