import { createContext , createRef , forwardRef , Suspense , useContext , useEffect , useRef , useState , } from 'react' ; import { Canvas , useFrame } from '@react-three/fiber' ; import { Physics , useBox , useHingeConstraint , useLockConstraint , usePlane } from '@react-three/cannon' ; import { OrbitControls , PerspectiveCamera } from '@react-three/drei' ; import { Vector3 } from 'three' ; import type { BoxProps , HingeConstraintOpts , PlaneProps , Triplet } from '@react-three/cannon' ; import type { MeshStandardMaterialProps , PlaneBufferGeometryProps } from '@react-three/fiber' ; import type { PropsWithChildren , RefObject } from 'react' ; import type { PerspectiveCamera as Cam , Object3D } from 'three' ; function normalizeSize ( [ px = 0 , py = 0 , pz = 0 ] ) { return ( [ ox = 1 , oy = 1 , oz = 1 ] ) => [ px * ox , py * oy , pz * oz ] ; } const GROUP_GROUND = 2 ** 0 ; const GROUP_BODY = 2 ** 1 ; type OurPlaneProps = Pick < PlaneBufferGeometryProps , 'args' > & Pick < PlaneProps , 'position' | 'rotation' > ; function Plane ( { args , ... props } ) { const [ ref ] = usePlane ( ( ) => ( { collisionFilterGroup : GROUP_GROUND , type : 'Static' , ... props } ) ) ; return ( < group ref = { ref } > < mesh > < planeBufferGeometry args = { args } /> < meshBasicMaterial color = "#ffb385" / > < /mesh> < mesh receiveShadow > < planeBufferGeometry args = { args } /> < shadowMaterial color = "lightsalmon" / > < /mesh> < /group>); } const ref = createRef < Object3D > ( ) ; const context = createContext < [ bodyRef : RefObject < Object3D > , props : BoxShapeProps ] > ( [ ref , { } ] ) ; type ConstraintPartProps = PropsWithChildren < { config ? : HingeConstraintOpts ; enableMotor ? : boolean ; motorSpeed ? : number ; parentPivot ? : Triplet ; pivot ? : Triplet ; } & Pick < BoxShapeProps , 'color' > & BoxProps > & BoxShapeProps ; const ConstraintPart = forwardRef < Object3D | null , ConstraintPartProps > ( ( { config = { } , enableMotor , motorSpeed = 7 , color , children , pivot = [ 0 , 0 , 0 ] , parentPivot = [ 0 , 0 , 0 ] , ... props } , ref ) => { const parent = useContext ( context ) ; const normParentPivot = parent && parent [ 1 ] . args ? normalizeSize ( parent [ 1 ] . args ) : ( ) => undefined ; const normPivot = props . args ? normalizeSize ( props . args ) : ( ) => undefined ; const [ bodyRef ] = useBox ( ( ) => ( { collisionFilterGroup : GROUP_BODY , collisionFilterMask : GROUP_GROUND , linearDamping : 0.4 , mass : 1 , ... props , } ) , ref ) ; const [ , , hingeApi ] = useHingeConstraint ( bodyRef , parent [ 0 ] , { axisA : [ 0 , 0 , 1 ] , axisB : [ 0 , 0 , 1 ] , collideConnected : false , pivotA : normPivot ( pivot ) , pivotB : normParentPivot ( parentPivot ) , ... config , } ) ; useEffect ( ( ) => { if ( enableMotor ) { hingeApi . enableMotor ( ) ; } else { hingeApi . disableMotor ( ) ; } } , [ enableMotor ] ) ; useEffect ( ( ) => { hingeApi . setMotorSpeed ( motorSpeed ) ; } , [ motorSpeed ] ) ; return ( < context . Provider value = { [ bodyRef , props ] } > < BoxShape ref = { bodyRef } { ... props } color = { color } / > { children } < /context.Provider>); } ) ; type BoxShapeProps = Pick < MeshStandardMaterialProps , 'color' | 'opacity' | 'transparent' > & Pick < BoxProps , 'args' > ; const BoxShape = forwardRef < Object3D | null , BoxShapeProps > ( ( { args = [ 1 , 1 , 1 ] , children , color = 'white' , opacity = 1 , transparent = false , ... props } , ref ) => ( < mesh receiveShadow castShadow ref = { ref } { ... props } > < boxBufferGeometry args = { args } / > < meshStandardMaterial color = { color } transparent = { transparent } opacity = { opacity } / > { children } < /mesh>)); const Robot = forwardRef < Object3D > ( ( _ , legsLeftRef ) => { const [ motorSpeed , setMotorSpeed ] = useState ( 7 ) ; const legsRightRef = useRef < Object3D > ( null ) ; useLockConstraint ( legsRightRef , legsLeftRef , { } ) ; return ( < group onPointerDown = { ( ) => setMotorSpeed ( 2 ) } onPointerUp = { ( ) => setMotorSpeed ( 7 ) } > < Legs ref = { legsLeftRef } delay = { 1000 } bodyDepth = { 3 } motorSpeed = { motorSpeed } / > < Legs ref = { legsRightRef } motorSpeed = { motorSpeed } / > < /group>); } ) ; type LegsProps = { bodyDepth ? : number ; delay ? : number ; } & Pick < ConstraintPartProps , 'motorSpeed' > ; const Legs = forwardRef < Object3D , LegsProps > ( ( { bodyDepth = 0 , delay = 0 , motorSpeed = 7 } , bodyRef ) => { const horizontalRef = useRef < Object3D > ( null ) ; const frontLegRef = useRef < Object3D > ( null ) ; const frontUpperLegRef = useRef < Object3D > ( null ) ; const backLegRef = useRef < Object3D > ( null ) ; const partDepth = 0.3 ; const bodyWidth = 10 ; const bodyHeight = 2 ; const legLength = 6 ; const size3 = normalizeSize ( [ 1 , 3 , partDepth ] ) ; const size5 = normalizeSize ( [ 1 , 5 , partDepth ] ) ; const size10 = normalizeSize ( [ 1 , 10 , partDepth ] ) ; useHingeConstraint ( frontUpperLegRef , frontLegRef , { axisA : [ 0 , 0 , 1 ] , axisB : [ 0 , 0 , 1 ] , collideConnected : false , pivotA : size3 ( [ 0 , 0.5 , 0.5 ] ) , pivotB : size5 ( [ 0 , 0.5 , - 0.5 ] ) , } ) ; useHingeConstraint ( backLegRef , horizontalRef , { axisA : [ 0 , 0 , 1 ] , axisB : [ 0 , 0 , 1 ] , collideConnected : false , pivotA : size5 ( [ 0 , 0.5 , 0.5 ] ) , pivotB : size10 ( [ 0 , 0.5 , - 0.5 ] ) , } ) ; const [ isWalking , setIsWalking ] = useState ( false ) ; useEffect ( ( ) => { const t = setTimeout ( ( ) => setIsWalking ( true ) , delay ) ; return ( ) => clearTimeout ( t ) ; } , [ ] ) ; return ( < group > { } < ConstraintPart ref = { bodyRef } mass = { 1 } args = { [ bodyHeight , bodyWidth , bodyDepth ? bodyDepth + partDepth * 3 : 0 ] } rotation = { [ 0 , 0 , Math . PI / 2 ] } position = { [ 0 , 0 , bodyDepth ] } transparent = { ! bodyDepth } opacity = { Number ( ! ! bodyDepth ) } > { } < ConstraintPart ref = { frontUpperLegRef } args = { [ 1 , 3 , partDepth ] } position = { [ - 2 , 0.5 , bodyDepth ] } rotation = { [ 0 , 0 , Math . PI / 3 ] } pivot = { [ 0 , - 0.5 , - 0.5 ] } parentPivot = { [ 0 , 0.2 , 0.5 ] } color = "#85ffb3" / > { } < ConstraintPart enableMotor = { isWalking } motorSpeed = { motorSpeed } args = { [ 0.5 , 1 , partDepth ] } position = { [ bodyWidth * - 0.5 , - 1.5 / 2 , bodyDepth ] } parentPivot = { [ 0 , 0.5 , 0.5 ] } pivot = { [ 0 , 0.5 , - 0.5 ] } color = "black" > { } < ConstraintPart ref = { frontLegRef } args = { [ 1 , legLength , partDepth ] } position = { [ bodyWidth * - 0.5 , - 1 , bodyDepth ] } rotation = { [ 0 , 0 , Math . PI / - 6 ] } parentPivot = { [ 0 , - 0.5 , 0.5 ] } pivot = { [ 0 , 0 , - 0.5 ] } color = "#85b3ff" > { } < ConstraintPart ref = { horizontalRef } parentPivot = { [ 0 , 0 , 0.5 ] } pivot = { [ 0 , - 0.5 , - 0.5 ] } args = { [ 1 , bodyWidth , partDepth ] } position = { [ 0 , 0 , bodyDepth ] } color = "#ff85b3" rotation = { [ 0 , 0 , Math . PI / - 2.5 ] } / > < /ConstraintPart> < /ConstraintPart> { } < ConstraintPart ref = { backLegRef } args = { [ 1 , legLength , partDepth ] } pivot = { [ 0 , - 0 , - 1 ] } parentPivot = { [ - 0.0 , - 0.5 , 0.5 ] } position = { [ bodyWidth * 0.5 , 0 , bodyDepth ] } rotation = { [ 0 , 0 , Math . PI / 4 ] } color = "#85b3ff" > < /ConstraintPart> < /ConstraintPart> < /group>); } ) ; function Obstacles ( ) { return ( < > < ConstraintPart collisionFilterGroup = { GROUP_GROUND } collisionFilterMask = { GROUP_BODY | GROUP_GROUND } mass = { 4 } args = { [ - 30 , - 0.4 , 30 ] } position = { [ - 45 , - 4 , 0 ] } rotation = { [ 0 , Math . PI / - 4 , 0 ] } color = { '#ffb385' } / > < ConstraintPart collisionFilterGroup = { GROUP_GROUND } collisionFilterMask = { GROUP_BODY | GROUP_GROUND } mass = { 4 } args = { [ - 15 , - 0.5 , 15 ] } position = { [ - 50 , - 2 , 0 ] } rotation = { [ 0 , Math . PI / - 1.25 , 0 ] } color = { '#dc9c76' } / > < ConstraintPart collisionFilterGroup = { GROUP_GROUND } collisionFilterMask = { GROUP_BODY | GROUP_GROUND } mass = { 4 } args = { [ - 10 , - 0.5 , 10 ] } position = { [ - 45 , 0 , - 5 ] } rotation = { [ 0 , Math . PI / 3 , 0 ] } color = { '#c58e6e' } / > < />); } const v = new Vector3 ( ) ; function Scene ( ) { const cameraRef = useRef < Cam > ( null ) ; const robotRef = useRef < Object3D > ( null ) ; useFrame ( ( ) => { if ( ! cameraRef . current || ! robotRef . current ) return ; robotRef . current . getWorldPosition ( v ) ; cameraRef . current . lookAt ( v ) ; } ) ; return ( < Suspense fallback = { null } > < PerspectiveCamera ref = { cameraRef } makeDefault position = { [ - 40 , 10 , 20 ] } / > < hemisphereLight intensity = { 0.35 } /> < spotLight position = { [ 20 , 30 , 10 ] } angle = { Math . PI / 5 } penumbra = { 1 } intensity = { 1 } distance = { 180 } castShadow shadow - mapSize - width = { 256 } shadow - mapSize - height = { 256 } /> < color attach = "background" args = { [ '#f6d186' ] } / > < Physics iterations = { 80 } gravity = { [ 0 , - 40 , 0 ] } > < Robot ref = { robotRef } /> < Obstacles / > < Plane args = { [ 120 , 120 ] } position = { [ - 20 , - 5 , 0 ] } rotation = { [ - Math . PI / 2 , 0 , 0 ] } / > < /Physics> < /Suspense>); } const style = { color : 'white' , fontSize : '1.2em' , left : 50 , position : 'absolute' , top : 20 , } as const ; export default ( ) => { return ( < > < Canvas shadows gl = { { alpha : false } } > < OrbitControls /> < Scene / > < /Canvas> < div style = { style } > < pre > * click to reduce speed < /pre> < /div> < />); } ;