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three.js
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							<!DOCTYPE html>
<html lang="en">
	<head>
		<title>three.js - misc - octree collisions</title>
		<meta charset=utf-8 />
		<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
		<link type="text/css" rel="stylesheet" href="main.css">
	</head>
	<body>
		<div id="info">Octree threejs demo - basic collisions with static triangle mesh<br />WASD to move, space to jump, use mouse to throw balls and move the camera.</div>
		<div id="container"></div>

		<script type="module">

			import * as THREE from '../build/three.module.js';

			import Stats from './jsm/libs/stats.module.js';

			import { GLTFLoader } from './jsm/loaders/GLTFLoader.js';

			import { Octree } from './jsm/math/Octree.js';
			import { Capsule } from './jsm/math/Capsule.js';


			const clock = new THREE.Clock();

			const scene = new THREE.Scene();
			scene.background = new THREE.Color( 0x88ccff );

			const camera = new THREE.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 0.1, 1000 );
			camera.rotation.order = 'YXZ';

			const ambientlight = new THREE.AmbientLight( 0x6688cc );
			scene.add( ambientlight );

			const fillLight1 = new THREE.DirectionalLight( 0xff9999, 0.5 );
			fillLight1.position.set( - 1, 1, 2 );
			scene.add( fillLight1 );

			const fillLight2 = new THREE.DirectionalLight( 0x8888ff, 0.2 );
			fillLight2.position.set( 0, - 1, 0 );
			scene.add( fillLight2 );

			const directionalLight = new THREE.DirectionalLight( 0xffffaa, 1.2 );
			directionalLight.position.set( - 5, 25, - 1 );
			directionalLight.castShadow = true;
			directionalLight.shadow.camera.near = 0.01;
			directionalLight.shadow.camera.far = 500;
			directionalLight.shadow.camera.right = 30;
			directionalLight.shadow.camera.left = - 30;
			directionalLight.shadow.camera.top	= 30;
			directionalLight.shadow.camera.bottom = - 30;
			directionalLight.shadow.mapSize.width = 1024;
			directionalLight.shadow.mapSize.height = 1024;
			directionalLight.shadow.radius = 4;
			directionalLight.shadow.bias = - 0.00006;
			scene.add( directionalLight );

			const renderer = new THREE.WebGLRenderer( { antialias: true } );
			renderer.setPixelRatio( window.devicePixelRatio );
			renderer.setSize( window.innerWidth, window.innerHeight );
			renderer.shadowMap.enabled = true;
			renderer.shadowMap.type = THREE.VSMShadowMap;

			const container = document.getElementById( 'container' );

			container.appendChild( renderer.domElement );

			const stats = new Stats();
			stats.domElement.style.position = 'absolute';
			stats.domElement.style.top = '0px';

			container.appendChild( stats.domElement );

			const GRAVITY = 30;

			const NUM_SPHERES = 20;
			const SPHERE_RADIUS = 0.2;

			const sphereGeometry = new THREE.SphereGeometry( SPHERE_RADIUS, 32, 32 );
			const sphereMaterial = new THREE.MeshStandardMaterial( { color: 0x888855, roughness: 0.8, metalness: 0.5 } );

			const spheres = [];
			let sphereIdx = 0;

			for ( let i = 0; i < NUM_SPHERES; i ++ ) {

				const sphere = new THREE.Mesh( sphereGeometry, sphereMaterial );
				sphere.castShadow = true;
				sphere.receiveShadow = true;

				scene.add( sphere );

				spheres.push( { mesh: sphere, collider: new THREE.Sphere( new THREE.Vector3( 0, - 100, 0 ), SPHERE_RADIUS ), velocity: new THREE.Vector3() } );

			}

			const worldOctree = new Octree();

			const playerCollider = new Capsule( new THREE.Vector3( 0, 0.35, 0 ), new THREE.Vector3( 0, 1, 0 ), 0.35 );

			const playerVelocity = new THREE.Vector3();
			const playerDirection = new THREE.Vector3();

			let playerOnFloor = false;

			const keyStates = {};

			document.addEventListener( 'keydown', ( event ) => {

				keyStates[ event.code ] = true;

			} );

			document.addEventListener( 'keyup', ( event ) => {

				keyStates[ event.code ] = false;

			} );

			document.addEventListener( 'mousedown', () => {

				document.body.requestPointerLock();

			} );

			document.body.addEventListener( 'mousemove', ( event ) => {

				if ( document.pointerLockElement === document.body ) {

					camera.rotation.y -= event.movementX / 500;
					camera.rotation.x -= event.movementY / 500;

				}

			} );

			window.addEventListener( 'resize', onWindowResize );

			function onWindowResize() {

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

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

			}

			document.addEventListener( 'click', () => {

				const sphere = spheres[ sphereIdx ];

				camera.getWorldDirection( playerDirection );

				sphere.collider.center.copy( playerCollider.end );
				sphere.velocity.copy( playerDirection ).multiplyScalar( 30 );

				sphereIdx = ( sphereIdx + 1 ) % spheres.length;

			} );

			function playerCollitions() {

				const result = worldOctree.capsuleIntersect( playerCollider );

				playerOnFloor = false;

				if ( result ) {

					playerOnFloor = result.normal.y > 0;

					if ( ! playerOnFloor ) {

						playerVelocity.addScaledVector( result.normal, - result.normal.dot( playerVelocity ) );

					}

					playerCollider.translate( result.normal.multiplyScalar( result.depth ) );

				}

			}

			function updatePlayer( deltaTime ) {

				if ( playerOnFloor ) {

					const damping = Math.exp( - 3 * deltaTime ) - 1;
					playerVelocity.addScaledVector( playerVelocity, damping );

				} else {

					playerVelocity.y -= GRAVITY * deltaTime;

				}

				const deltaPosition = playerVelocity.clone().multiplyScalar( deltaTime );
				playerCollider.translate( deltaPosition );

				playerCollitions();

				camera.position.copy( playerCollider.end );

			}

			function spheresCollisions() {

				for ( let i = 0; i < spheres.length; i ++ ) {

					const s1 = spheres[ i ];

					for ( let j = i + 1; j < spheres.length; j ++ ) {

						const s2 = spheres[ j ];

						const d2 = s1.collider.center.distanceToSquared( s2.collider.center );
						const r = s1.collider.radius + s2.collider.radius;
						const r2 = r * r;

						if ( d2 < r2 ) {

							const normal = s1.collider.clone().center.sub( s2.collider.center ).normalize();
							const v1 = normal.clone().multiplyScalar( normal.dot( s1.velocity ) );
							const v2 = normal.clone().multiplyScalar( normal.dot( s2.velocity ) );
							s1.velocity.add( v2 ).sub( v1 );
							s2.velocity.add( v1 ).sub( v2 );

							const d = ( r - Math.sqrt( d2 ) ) / 2;

							s1.collider.center.addScaledVector( normal, d );
							s2.collider.center.addScaledVector( normal, - d );

						}

					}

				}

			}

			function updateSpheres( deltaTime ) {

				spheres.forEach( sphere =>{

					sphere.collider.center.addScaledVector( sphere.velocity, deltaTime );

					const result = worldOctree.sphereIntersect( sphere.collider );

					if ( result ) {

						sphere.velocity.addScaledVector( result.normal, - result.normal.dot( sphere.velocity ) * 1.5 );
						sphere.collider.center.add( result.normal.multiplyScalar( result.depth ) );

					} else {

						sphere.velocity.y -= GRAVITY * deltaTime;

					}

					const damping = Math.exp( - 1.5 * deltaTime ) - 1;
					sphere.velocity.addScaledVector( sphere.velocity, damping );

					spheresCollisions();

					sphere.mesh.position.copy( sphere.collider.center );

				} );

			}

			function getForwardVector() {

				camera.getWorldDirection( playerDirection );
				playerDirection.y = 0;
				playerDirection.normalize();

				return playerDirection;

			}

			function getSideVector() {

				camera.getWorldDirection( playerDirection );
				playerDirection.y = 0;
				playerDirection.normalize();
				playerDirection.cross( camera.up );

				return playerDirection;

			}

			function controls( deltaTime ) {

				const speed = 25;

				if ( playerOnFloor ) {

					if ( keyStates[ 'KeyW' ] ) {

						playerVelocity.add( getForwardVector().multiplyScalar( speed * deltaTime ) );

					}

					if ( keyStates[ 'KeyS' ] ) {

						playerVelocity.add( getForwardVector().multiplyScalar( - speed * deltaTime ) );

					}

					if ( keyStates[ 'KeyA' ] ) {

						playerVelocity.add( getSideVector().multiplyScalar( - speed * deltaTime ) );

					}

					if ( keyStates[ 'KeyD' ] ) {

						playerVelocity.add( getSideVector().multiplyScalar( speed * deltaTime ) );

					}

					if ( keyStates[ 'Space' ] ) {

						playerVelocity.y = 15;

					}

				}

			}

			const loader = new GLTFLoader().setPath( './models/gltf/' );

			loader.load( 'collision-world.glb', ( gltf ) => {

				scene.add( gltf.scene );

				worldOctree.fromGraphNode( gltf.scene );

				gltf.scene.traverse( child => {

					if ( child.isMesh ) {

						child.castShadow = true;
						child.receiveShadow = true;

						if ( child.material.map ) {

							child.material.map.anisotropy = 8;

						}

					}

				} );

				animate();

			} );

			function animate() {

				const deltaTime = Math.min( 0.1, clock.getDelta() );

				controls( deltaTime );

				updatePlayer( deltaTime );

				updateSpheres( deltaTime );

				renderer.render( scene, camera );

				stats.update();

				requestAnimationFrame( animate );

			}


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