Raining rigid bodies

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src

src/main.js

// Raining rigid bodies — a Meep example for the rigid-body PhysicsSystem.
//
// Spheres, capsules and boxes rain onto a squashed-box floor, pile up, tumble
// off the edges and are recycled when they fall away below the world. It is the
// smallest interesting thing you can build on top of the new physics system:
// one Static body for the ground, a steady stream of Dynamic bodies above it,
// and a despawn rule to keep the simulation bounded.
//
// Sections:
//   §1  Tuning constants            world size, spawn rate, despawn floor
//   §2  Geometry + inertia helpers  capsule mesh, inertia tensors, random spin
//   §3  Body palette                shared geometry / material / collider shape
//   §4  The rain system             spawn on a timer, despawn what falls away
//   §5  Engine bootstrap            register the four systems
//   §6  Ground                      one Static, squashed box
//   §7  HUD + frame loop
//
// ─── The physics contract, in one paragraph ─────────────────────────────────
//
// A rigid body is three components on one entity:
//
//   - `Transform`  — pose (position + rotation). The PhysicsSystem WRITES this
//                    every fixed step; the renderer READS it. Scale is NOT part
//                    of the simulation — colliders carry their own size.
//   - `RigidBody`  — the dynamic state that is not pose: mass, velocity, inertia,
//                    damping, gravity scale, and the Static / Dynamic `kind`.
//   - `Collider`   — an immutable `*Shape3D` plus its surface material
//                    (friction, restitution).
//
// `PhysicsSystem` links the (RigidBody, Transform) pair into the solver;
// `ColliderObserverSystem` watches for the Collider on the same entity and
// attaches it to that body. Register both — and register PhysicsSystem first,
// so a body's slot exists before its collider tries to attach to it.

// ─── Imports ────────────────────────────────────────────────────────────────

import * as THREE from "three";
import { EngineHarness } from "@woosh/meep-engine/src/engine/EngineHarness.js";

import Entity from "@woosh/meep-engine/src/engine/ecs/Entity.js";
import { System } from "@woosh/meep-engine/src/engine/ecs/System.js";
import { Transform } from "@woosh/meep-engine/src/engine/ecs/transform/Transform.js";

import { ShadedGeometry } from "@woosh/meep-engine/src/engine/graphics/ecs/mesh-v2/ShadedGeometry.js";
import { ShadedGeometrySystem } from "@woosh/meep-engine/src/engine/graphics/ecs/mesh-v2/ShadedGeometrySystem.js";
import { CapsuleGeometry } from "@woosh/meep-engine/src/engine/graphics/geometry/CapsuleGeometry.js";

import { PhysicsSystem } from "@woosh/meep-engine/src/engine/physics/ecs/PhysicsSystem.js";
import { ColliderObserverSystem } from "@woosh/meep-engine/src/engine/physics/ecs/ColliderObserverSystem.js";
import { RigidBody } from "@woosh/meep-engine/src/engine/physics/ecs/RigidBody.js";
import { Collider } from "@woosh/meep-engine/src/engine/physics/ecs/Collider.js";
import { BodyKind } from "@woosh/meep-engine/src/engine/physics/ecs/BodyKind.js";

import { BoxShape3D } from "@woosh/meep-engine/src/core/geom/3d/shape/BoxShape3D.js";
import { CapsuleShape3D } from "@woosh/meep-engine/src/core/geom/3d/shape/CapsuleShape3D.js";
import { SphereShape3D } from "@woosh/meep-engine/src/core/geom/3d/shape/SphereShape3D.js";

import Vector3 from "@woosh/meep-engine/src/core/geom/Vector3.js";
import { randomFloatBetween } from "@woosh/meep-engine/src/core/math/random/randomFloatBetween.js";
import {
    AmbientOcclusionPostProcessEffect
} from "@woosh/meep-engine/src/engine/graphics/render/buffer/simple-fx/ao/AmbientOcclusionPostProcessEffect.js";

// ─── §1  Tuning constants ────────────────────────────────────────────────────

// The ground is a single squashed box. Full side lengths, in metres. The
// footprint is kept only a little wider than the spawn column, so the pile
// quickly reaches the edges and bodies start tumbling off.
const GROUND_WIDTH = 20;
const GROUND_HEIGHT = 1.5;
const GROUND_DEPTH = 20;

// New bodies appear in a square column centred on the origin, between
// SPAWN_Y and SPAWN_Y + SPAWN_Y_JITTER, so they don't all share a height.
const SPAWN_HALF_EXTENT = 9;     // < half the ground width, so they land on it
const SPAWN_Y = 20;
const SPAWN_Y_JITTER = 4;

// One body every SPAWN_INTERVAL seconds, capped at MAX_BODIES live at once.
// The cap plus the despawn rule give the scene a steady state: as fast as the
// pile sheds bodies off its edges, new ones drop in to replace them.
const SPAWN_INTERVAL = 0.08;
const MAX_BODIES = 240;

// A body is recycled once it falls this far below the world. The ground's top
// face sits at y = 0, so this is ~10 m of clear air below it — comfortably
// off-screen. Despawning is just `dataset.removeEntity`, which unlinks the
// body from the solver and the collider from the broadphase for free.
const DESPAWN_Y = -10;

// ─── §2  Inertia helpers ─────────────────────────────────────────────────────

// The RigidBody default for `inverseInertiaLocal` is (0,0,0), which LOCKS
// rotation — a body with that inertia slides but never tumbles. To let bodies
// spin we hand the solver the inverse of each shape's principal moments of
// inertia (the diagonal, in the body's local frame). The formulae below are
// the standard solid-body tensors.

function sphereInverseInertia(mass, radius) {
    const i = 0.4 * mass * radius * radius;          // (2/5) m r²
    return new Vector3(1 / i, 1 / i, 1 / i);
}

function boxInverseInertia(mass, width, height, depth) {
    const k = mass / 12;
    const ix = k * (height * height + depth * depth);
    const iy = k * (width * width + depth * depth);
    const iz = k * (width * width + height * height);
    return new Vector3(1 / ix, 1 / iy, 1 / iz);
}

function capsuleInverseInertia(mass, radius, height) {
    // Approximated as a solid cylinder of radius `radius` and length
    // `height + 2·radius`. Close enough that the tumble reads correctly; the
    // exact capsule tensor is a distraction in a getting-started example.
    const length = height + 2 * radius;
    const iy = 0.5 * mass * radius * radius;
    const ixz = (mass / 12) * (3 * radius * radius + length * length);
    return new Vector3(1 / ixz, 1 / iy, 1 / ixz);
}

// ─── §3  Body palette ────────────────────────────────────────────────────────
//
// Every spawned body is drawn from one of these templates. The trick to keeping
// the render cheap is SHARING: a `*Shape3D` is immutable and reused by every
// collider built from it, and a (geometry, material) pair maps to a single draw
// batch in ShadedGeometrySystem no matter how many entities reference it. So a
// few hundred falling bodies cost only a handful of templates' worth of GPU
// state — vary the sizes here, not per-spawn, and batching stays intact. Each
// collider is sized to match its render mesh (`SphereShape3D.from(r)`, etc.).

function makeTemplate({ geometry, shape, mass, inverseInertia, color }) {
    const material = new THREE.MeshStandardMaterial({ color, roughness: 0.65, metalness: 0.05 });
    return {
        shape, mass, inverseInertia, // A fresh ShadedGeometry per entity (it owns per-entity bounds state),
        // but both args are shared, so all of a template's bodies batch together.
        makeRenderable: () => ShadedGeometry.from(geometry, material),
    };
}

function buildPalette() {
    const templates = [];

    // — Spheres —
    templates.push(makeTemplate({
        geometry: new THREE.SphereGeometry(1, 24, 16),
        shape: SphereShape3D.from(1),
        mass: 1.6,
        inverseInertia: sphereInverseInertia(1.6, 1),
        color: 0x4ef0a8,
    }));

    // — Boxes (a handful of sizes) —
    const boxSizes = [[1.3, 1.3, 1.3], [2.1, 1.0, 1.4], [1.6, 1.6, 0.9],];
    const boxColors = [0x5aa9ff, 0x7c8cff, 0x49c7e0];
    for (let i = 0; i < boxSizes.length; i++) {
        const [w, h, d] = boxSizes[i];
        const mass = 0.7 * w * h * d;
        templates.push(makeTemplate({
            geometry: new THREE.BoxGeometry(w, h, d),
            shape: BoxShape3D.from_size(w, h, d),
            mass,
            inverseInertia: boxInverseInertia(mass, w, h, d),
            color: boxColors[i],
        }));
    }

    // — Capsules (radius, cylinder height) —
    const capsuleSizes = [[0.6, 1.2], [0.5, 1.8],];
    const capsuleColors = [0xffb454, 0xff7a8a];
    for (let i = 0; i < capsuleSizes.length; i++) {
        const [r, h] = capsuleSizes[i];
        const mass = 2.2 * r * r * (h + 1.33 * r);   // ≈ density × volume
        templates.push(makeTemplate({
            // meep's CapsuleGeometry takes the same (radius, height) convention
            // as CapsuleShape3D — height is the cylinder section only — so the
            // watertight render mesh lines up with the collider exactly.
            geometry: new CapsuleGeometry(r, h, 8, 18),
            shape: CapsuleShape3D.from(r, h),
            mass,
            inverseInertia: capsuleInverseInertia(mass, r, h),
            color: capsuleColors[i],
        }));
    }

    return templates;
}

// ─── §4  The rain system ─────────────────────────────────────────────────────
//
// `update(dt)` runs once per rendered frame and does two jobs: drop new bodies
// on a timer, and recycle any that have fallen past the despawn floor. It
// queries the dataset directly rather than acting on the linked tuple — but a
// System must still declare at least one dependency, so we name `Transform`
// (its link / unlink hooks stay no-ops; only `update` matters here).

class RainSystem extends System {
    dependencies = [Transform];

    constructor(templates) {
        super();
        this.templates = templates;

        this._spawnAccumulator = 0;
        this._deadScratch = [];

        // Read by the HUD.
        this.liveBodies = 0;
        this.totalSpawned = 0;
    }

    update(dt) {
        const ecd = this.entityManager.dataset;

        // — Despawn pass — collect every fallen Dynamic body, then remove. We
        // gather ids first and mutate after, so we never delete out from under
        // the in-flight traversal. The same loop counts the live population.
        const dead = this._deadScratch;
        dead.length = 0;
        let liveDynamic = 0;

        ecd.traverseEntities([RigidBody, Transform], (body, transform, entity) => {
            if (body.kind === BodyKind.Static) {
                return;                              // the ground — never counted, never recycled
            }
            liveDynamic++;
            if (transform.position.y < DESPAWN_Y) {
                dead.push(entity);
            }
        });

        for (let i = 0; i < dead.length; i++) {
            ecd.removeEntity(dead[i]);
        }

        this.liveBodies = liveDynamic - dead.length;

        // — Spawn pass — one body per SPAWN_INTERVAL of elapsed time, while
        // we're under the cap. The accumulator keeps the rate frame-rate
        // independent without spawning a burst after a stall.
        this._spawnAccumulator += dt;
        while (this._spawnAccumulator >= SPAWN_INTERVAL) {
            this._spawnAccumulator -= SPAWN_INTERVAL;

            if (this.liveBodies < MAX_BODIES) {
                this._spawnBody(ecd);
                this.liveBodies++;
                this.totalSpawned++;
            }
        }
    }

    _spawnBody(ecd) {
        const template = this.templates[(Math.random() * this.templates.length) | 0];

        const transform = new Transform();
        transform.position.set(randomFloatBetween(Math.random, -SPAWN_HALF_EXTENT, SPAWN_HALF_EXTENT), SPAWN_Y + Math.random() * SPAWN_Y_JITTER, randomFloatBetween(Math.random, -SPAWN_HALF_EXTENT, SPAWN_HALF_EXTENT),);
        // Quaternion.random orients the body uniformly in place.
        transform.rotation.random();

        const body = new RigidBody();
        body.kind = BodyKind.Dynamic;
        body.mass = template.mass;
        // Unlock rotation by giving the body a real inertia tensor.
        body.inverseInertiaLocal.copy(template.inverseInertia);
        // A touch of damping so piles settle instead of jittering forever.
        body.linearDamping = 0.02;
        body.angularDamping = 0.05;
        // Seed a little spin and horizontal drift so the rain looks alive.
        body.angularVelocity.set(randomFloatBetween(Math.random, -3, 3), randomFloatBetween(Math.random, -3, 3), randomFloatBetween(Math.random, -3, 3),);
        body.linearVelocity.set(randomFloatBetween(Math.random, -1.5, 1.5), 0, randomFloatBetween(Math.random, -1.5, 1.5),);

        const collider = new Collider();
        collider.shape = template.shape;
        collider.friction = 0.6;
        collider.restitution = 0.2;             // a small, lively bounce

        // RigidBody links the body; the collider is picked up by the observer.
        new Entity()
            .add(transform)
            .add(body)
            .add(collider)
            .add(template.makeRenderable())
            .build(ecd);
    }
}

// ─── §5  Engine bootstrap ────────────────────────────────────────────────────

const palette = buildPalette();
const rainSystem = new RainSystem(palette);

const engine = await EngineHarness.bootstrap({
    configuration: (config, engine) => {
        // Draws anything carrying a ShadedGeometry.
        config.addSystem(new ShadedGeometrySystem(engine));
        config.addPlugin(AmbientOcclusionPostProcessEffect)

        // The rigid-body solver, and the observer that wires colliders onto
        // bodies. Order matters: PhysicsSystem must link a body's slot before
        // ColliderObserverSystem tries to attach that body's collider.
        const physics = new PhysicsSystem();
        config.addSystem(physics);
        config.addSystem(new ColliderObserverSystem(physics));

        // gravity already defaults to (0, -9.81, 0); shown here for the curious:
        // physics.setGravity({ x: 0, y: -9.81, z: 0 });

        config.addSystem(rainSystem);
    },
});

// Camera, sun + ambient lights, and shadow maps so the falling bodies cast onto
// the floor and each other. `cameraController: true` (the default) gives the
// orbital drag-to-look / wheel-to-zoom controls.
await EngineHarness.buildBasics({
    engine,
    enableTerrain: false,
    enableWater: false,
    enableLights: true,
    enableShadows: true,
    shadowmapResolution: 2048,
    focus: new Vector3(0, 1, 0), // Wheel zoom adds ±1 world unit to `distance` per notch, so this sits
    // ~20 clicks further back than the in-the-action default of 30 — far
    // enough that the whole platform fits in frame.
    distance: 50,
    pitch: 0.95,
    yaw: 0.6,
    cameraFarDistance: 200,
    showFps: false,
});

const ecd = engine.entityManager.dataset;

// ─── §6  Ground ──────────────────────────────────────────────────────────────
//
// A single Static body: a squashed box. Static bodies have effectively infinite
// mass and never integrate, so they need no inertia — they just sit in the
// broadphase as something for the Dynamic bodies to land on. We sink it so its
// TOP face lands exactly at y = 0.

{
    const groundShape = BoxShape3D.from_size(GROUND_WIDTH, GROUND_HEIGHT, GROUND_DEPTH);

    const transform = new Transform();
    transform.position.set(0, -GROUND_HEIGHT / 2, 0);

    const body = new RigidBody();
    body.kind = BodyKind.Static;

    const collider = new Collider();
    collider.shape = groundShape;
    collider.friction = 0.8;
    collider.restitution = 0.1;

    const groundGeometry = new THREE.BoxGeometry(GROUND_WIDTH, GROUND_HEIGHT, GROUND_DEPTH);
    const groundMaterial = new THREE.MeshStandardMaterial({ color: 0x2a3340, roughness: 0.95, metalness: 0 });

    new Entity()
        .add(transform)
        .add(body)
        .add(collider)
        .add(ShadedGeometry.from(groundGeometry, groundMaterial))
        .build(ecd);
}

// ─── §7  HUD + frame loop ────────────────────────────────────────────────────

const fpsEl = document.getElementById("fps");
const liveEl = document.getElementById("live");
const totalEl = document.getElementById("total");

let fpsWindow = 0;
let fpsFrames = 0;
let lastFrameMs = performance.now();

engine.graphics.on.postRender.add(() => {
    const nowMs = performance.now();
    const dt = (nowMs - lastFrameMs) / 1000;
    lastFrameMs = nowMs;

    fpsWindow += dt;
    fpsFrames++;
    if (fpsWindow >= 0.5) {
        fpsEl.textContent = (fpsFrames / fpsWindow).toFixed(0);
        fpsWindow = 0;
        fpsFrames = 0;

        liveEl.textContent = String(rainSystem.liveBodies);
        totalEl.textContent = rainSystem.totalSpawned.toLocaleString();
    }
});

<!DOCTYPE html>
<html lang="en">
<head>
  <meta charset="UTF-8">
  <meta name="viewport" content="width=device-width, initial-scale=1.0">
  <title>Raining rigid bodies · Meep</title>
  <meta name="robots" content="noindex">
  <style>
    *, *::before, *::after { box-sizing: border-box; }
    html, body {
      margin: 0; padding: 0;
      width: 100%; height: 100%;
      overflow: hidden;
      background: #07090c;
      color: #e6edf3;
      font-family: ui-sans-serif, system-ui, -apple-system, "Segoe UI", Roboto, sans-serif;
    }

    .panel {
      position: fixed;
      z-index: 100;
      background: rgba(7, 9, 12, 0.72);
      border: 1px solid #1f2731;
      border-radius: 10px;
      backdrop-filter: blur(10px);
      -webkit-backdrop-filter: blur(10px);
      box-shadow: 0 12px 32px rgba(0,0,0,0.4);
    }

    .hud {
      top: 1rem; left: 1rem;
      padding: 0.8rem 1rem;
      font-family: ui-monospace, "JetBrains Mono", monospace;
      font-size: 0.82rem;
      line-height: 1.7;
      color: #9aa5b1;
      min-width: 180px;
    }
    .hud .label {
      color: #6b7785;
      text-transform: uppercase;
      letter-spacing: 0.1em;
      font-size: 0.65rem;
      margin-right: 0.5rem;
    }
    .hud .value { color: #4ef0a8; }

    .legend {
      bottom: 1rem; left: 1rem;
      padding: 0.8rem 1rem;
      font-size: 0.82rem;
      line-height: 1.55;
      max-width: 420px;
      color: #9aa5b1;
    }
    .legend strong { color: #e6edf3; }
  </style>
</head>
<body>

  <div class="panel hud">
    <div><span class="label">fps</span><span class="value" id="fps">--</span></div>
    <div><span class="label">live</span><span class="value" id="live">0</span></div>
    <div><span class="label">spawned</span><span class="value" id="total">0</span></div>
  </div>

  <div class="panel legend">
    <strong>Spheres, capsules and boxes</strong> rain onto a squashed-box floor
    under the rigid-body <code>PhysicsSystem</code>, pile up, and are recycled
    once they tumble off the edge. Drag to orbit · scroll to zoom.
  </div>

  <script type="module" src="./src/main.js"></script>
</body>
</html>

{
  "title": "Raining rigid bodies",
  "description": "Spheres, capsules and boxes rain onto a squashed-box floor under the rigid-body PhysicsSystem, pile up, and are recycled once they tumble off the edge.",
  "category": "Physics",
  "status": "live",
  "order": 1,
  "tags": ["physics", "rigid-body", "collision", "ecs", "shadows"],
  "sourceHint": "examples-src/physics-rain/",
  "demoUrl": "/examples/physics-rain/demo.html",
  "defaultFile": "src/main.js"
}

{
  "name": "@meep-examples/physics-rain",
  "version": "0.1.0",
  "private": true,
  "type": "module",
  "description": "Rigid bodies — spheres, capsules and boxes — raining onto a squashed-box ground via the PhysicsSystem.",
  "scripts": {
    "dev": "vite",
    "build": "vite build",
    "preview": "vite preview"
  },
  "dependencies": {
    "@woosh/meep-engine": "2.146.0",
    "three": "0.136.0"
  },
  "devDependencies": {
    "@rollup/plugin-strip": "^3.0.4",
    "vite": "^8.0.13"
  }
}

# physics-rain

Spheres, capsules and boxes rain onto a squashed-box floor under Meep's
rigid-body `PhysicsSystem`. They pile up, tumble off the edges, and are recycled
once they fall past a despawn floor below the world — a steady, self-renewing
stream of a few hundred bodies.

## Run locally

```bash
npm install
npm run dev
```

## Build

```bash
npm run build
```

Output goes to `../../public/examples/physics-rain/demo.html`.

## What this demonstrates

- **`PhysicsSystem`** — the rigid-body solver. Register it, register
  `ColliderObserverSystem` (which attaches colliders to bodies), and bodies
  start falling. `PhysicsSystem` writes each body's pose back onto its
  `Transform` every fixed step; the renderer reads the same `Transform`.
- **The three-component body** — every body is `Transform` (pose) + `RigidBody`
  (mass, velocity, inertia, `Static`/`Dynamic` kind) + `Collider` (an immutable
  `*Shape3D` plus friction / restitution) on one entity.
- **`BodyKind.Static` vs `BodyKind.Dynamic`** — the ground is one Static box
  with infinite mass that never integrates; everything raining on it is Dynamic.
- **Collision shapes** — `SphereShape3D.from(r)`, `BoxShape3D.from_size(w, h, d)`
  and `CapsuleShape3D.from(radius, height)`. Sizes live on the *shape*, not the
  `Transform` (the simulation ignores `Transform.scale`).
- **Unlocking rotation** — a body's default `inverseInertiaLocal` is `(0,0,0)`,
  which locks rotation. The example computes a real inertia tensor per shape so
  bodies actually tumble.
- **Spawning + despawning at runtime** — a small `System` subclass drops a body
  on a timer (rate-capped, frame-rate independent) and recycles fallen bodies
  with `dataset.removeEntity`, which unlinks them from the solver and broadphase.
- **Batching-friendly authoring** — collider shapes and `(geometry, material)`
  pairs are shared across all bodies of a template, so a few hundred bodies cost
  only a handful of draw batches.
- **Shadows** — `EngineHarness.buildBasics({ enableShadows: true })`; every
  `ShadedGeometry` casts and receives by default.

import { defineConfig } from "vite";
import { fileURLToPath } from "node:url";
import { resolve, dirname } from "node:path";

import strip from "@rollup/plugin-strip";

const __dirname = dirname(fileURLToPath(import.meta.url));

export default defineConfig({
  base: "./",
  build: {
    outDir: resolve(__dirname, "../../public/examples/physics-rain"),
    emptyOutDir: false,
    rollupOptions: {
      input: resolve(__dirname, "demo.html"),
      plugins: [
        {
          // this will remove all assert statements from the production build
          ...strip(),
          apply: 'build'
        }
      ],
    },
    target: "es2022",
  },
});