Convert a Cannon.js body to a THREE.js mesh

body2mesh.js

function body2mesh(body, wireframe) {
  var wireframe = wireframe || true;
  var obj = new THREE.Object3D();

  for (var l = 0; l < body.shapes.length; l++) {
    var shape = body.shapes[l];

    var mesh;

    switch(shape.type){

    case CANNON.Shape.types.SPHERE:
      var sphere_geometry = new THREE.SphereGeometry( shape.radius, 8, 8);
      mesh = new THREE.Mesh( sphere_geometry, this.currentMaterial );
      break;

    case CANNON.Shape.types.PARTICLE:
      mesh = new THREE.Mesh( this.particleGeo, this.particleMaterial );
      var s = this.settings;
      mesh.scale.set(s.particleSize,s.particleSize,s.particleSize);
      break;

    case CANNON.Shape.types.PLANE:
      var geometry = new THREE.PlaneGeometry(10, 10, 4, 4);
      mesh = new THREE.Object3D();
      var submesh = new THREE.Object3D();
      var ground = new THREE.Mesh( geometry, this.currentMaterial );
      ground.scale.set(100, 100, 100);
      submesh.add(ground);

      ground.castShadow = true;
      ground.receiveShadow = true;

      mesh.add(submesh);
      break;

    case CANNON.Shape.types.BOX:
      var box_geometry = new THREE.BoxGeometry(  shape.halfExtents.x*2,
                            shape.halfExtents.y*2,
                            shape.halfExtents.z*2 );
      mesh = new THREE.Mesh( box_geometry, this.currentMaterial );
      break;

    case CANNON.Shape.types.CONVEXPOLYHEDRON:
      var geo = new THREE.Geometry();

      // Add vertices
      for (var i = 0; i < shape.vertices.length; i++) {
        var v = shape.vertices[i];
        geo.vertices.push(new THREE.Vector3(v.x, v.y, v.z));
      }

      for(var i=0; i < shape.faces.length; i++){
        var face = shape.faces[i];

        // add triangles
        var a = face[0];
        for (var j = 1; j < face.length - 1; j++) {
          var b = face[j];
          var c = face[j + 1];
          geo.faces.push(new THREE.Face3(a, b, c));
        }
      }
      geo.computeBoundingSphere();
      geo.computeFaceNormals();
      mesh = new THREE.Mesh( geo, this.currentMaterial );
      break;

    case CANNON.Shape.types.HEIGHTFIELD:
      var geometry = new THREE.Geometry();

      var v0 = new CANNON.Vec3();
      var v1 = new CANNON.Vec3();
      var v2 = new CANNON.Vec3();
      for (var xi = 0; xi < shape.data.length - 1; xi++) {
        for (var yi = 0; yi < shape.data[xi].length - 1; yi++) {
          for (var k = 0; k < 2; k++) {
            shape.getConvexTrianglePillar(xi, yi, k===0);
            v0.copy(shape.pillarConvex.vertices[0]);
            v1.copy(shape.pillarConvex.vertices[1]);
            v2.copy(shape.pillarConvex.vertices[2]);
            v0.vadd(shape.pillarOffset, v0);
            v1.vadd(shape.pillarOffset, v1);
            v2.vadd(shape.pillarOffset, v2);
            geometry.vertices.push(
              new THREE.Vector3(v0.x, v0.y, v0.z),
              new THREE.Vector3(v1.x, v1.y, v1.z),
              new THREE.Vector3(v2.x, v2.y, v2.z)
            );
            var i = geometry.vertices.length - 3;
            geometry.faces.push(new THREE.Face3(i, i+1, i+2));
          }
        }
      }
      geometry.computeBoundingSphere();
      geometry.computeFaceNormals();
      mesh = new THREE.Mesh(geometry, this.currentMaterial);
      break;

    case CANNON.Shape.types.TRIMESH:
      var geometry = new THREE.Geometry();

      var v0 = new CANNON.Vec3();
      var v1 = new CANNON.Vec3();
      var v2 = new CANNON.Vec3();
      for (var i = 0; i < shape.indices.length / 3; i++) {
        shape.getTriangleVertices(i, v0, v1, v2);
        geometry.vertices.push(
          new THREE.Vector3(v0.x, v0.y, v0.z),
          new THREE.Vector3(v1.x, v1.y, v1.z),
          new THREE.Vector3(v2.x, v2.y, v2.z)
        );
        var j = geometry.vertices.length - 3;
        geometry.faces.push(new THREE.Face3(j, j+1, j+2));
      }
      geometry.computeBoundingSphere();
      geometry.computeFaceNormals();
      mesh = new THREE.Mesh(geometry, this.currentMaterial);
      break;

    default:
      throw "Visual type not recognized: "+shape.type;
    }

    mesh.receiveShadow = true;
    mesh.castShadow = true;
    if(mesh.children){
      for(var i=0; i<mesh.children.length; i++){
        mesh.children[i].castShadow = true;
        mesh.children[i].receiveShadow = true;
        if(mesh.children[i]){
          for(var j=0; j<mesh.children[i].length; j++){
            mesh.children[i].children[j].castShadow = true;
            mesh.children[i].children[j].receiveShadow = true;
          }
        }
      }
    }

    var o = body.shapeOffsets[l];
    var q = body.shapeOrientations[l];
    mesh.position.set(o.x, o.y, o.z);
    mesh.quaternion.set(q.x, q.y, q.z, q.w);

    obj.add(mesh);
  }

  return obj;
 };